最小能量约束多智能体系统采样通信编队控制
DOI:
作者:
作者单位:

1.火箭军工程大学;2.Rocket Force University of Engineering

作者简介:

通讯作者:

中图分类号:

TP273+.1

基金项目:

国家自然科学基金(62176263, 62103434, 62003363,,U23B2064);陕西省 科协青年人才托举计划(20220123);陕西省自然科学基础研究计划(2022KJXX-99);国防基础科研计划 项目(JCKY2021912B001)


Sampling communication formation control of multi-agent systems with minimum-energy constraint
Author:
Affiliation:

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献()
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    针对高阶连续线性多智能体系统,给出了采样通信条件下最小能量时变编队设计方法。利用采样时刻多智能体系统局部邻域信息,提出了考虑全局控制能量消耗的时变编队协同控制协议。采用状态空间分解方法,将多智能体系统的时变编队问题转化为分解后不一致子系统的稳定性问题。构造了编队可行性条件,利用广义特征值方法,给出了最小能量约束时变编队分析和设计的充分条件,确保多智能体系统在最小能量约束下实现采样通信时变编队。对理论结果进行数值仿真验证。仿真结果表明,采取最小能量约束编队控制方法,能够有效降低多智能体系统在采样通信条件下实现时变编队的全局控制能量消耗。

    Abstract:

    For high-order continuous linear multi-agent systems, minimum-energy formation design methods with sampled-data communication were proposed. Based on local neighbouring information of multi-agent systems at sampling time, time-varying formation cooperative control protocol with global control energy consumption being considered was presented. By the state-space decomposition method, the time-varying formation problem of multi-agent systems was transformed into the stability problem of decomposed inconsensus subsystems. A formation feasible condition was constructed, and sufficient conditions for the design of time-varying formation under minimum-energy constraint can be obtained by the generalized eigenvalue approach, which ensures that the time-varying formation of multi-agent system can be realized under minimum-energy constraint. Theoretical results were verified by a numerical simulation, and the simulation results shows that the formation control method with minimum-energy constraints can effectively reduce the global control energy consumption of time-varying formation of multi-agent systems with sampled-data communication.

    参考文献
    相似文献
    引证文献
引用本文
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2023-11-11
  • 最后修改日期:2024-05-26
  • 录用日期:2024-05-30
  • 在线发布日期:
  • 出版日期:
文章二维码