| 引用本文: | 连俊杰,孙洪飞.多智能体系统的前置时间仿射编队控制[J].控制理论与应用,2025,42(7):1461~1468.[点击复制] |
| LIAN Jun-jie,SUN Hong-fei.Lead-time affine formation control for multi-agent systems[J].Control Theory & Applications,2025,42(7):1461~1468.[点击复制] |
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| 多智能体系统的前置时间仿射编队控制 |
| Lead-time affine formation control for multi-agent systems |
| 摘要点击 3501 全文点击 280 投稿时间：2023-07-03 修订日期：2025-04-07 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.30461 |
| 2025,42(7):1461-1468 |
| 中文关键词 前置时间稳定 编队控制 仿射变换 多智能体系统 |
| 英文关键词 lead-time stability formation control affine transformation multi-agent systems |
| 基金项目 航空科学基金项目(20220058068001), 研究项目(PZ2020016)资助. |
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| 中文摘要 |
| 本文研究了多智能体系统在预设的前置时间内收敛的仿射编队控制问题. 利用基于应力矩阵的仿射变换
方法并结合前置时间稳定理论, 为领导–跟随结构的编队设计了无向图下的前置时间仿射编队控制算法. 该编队控
制算法使得队形在前置时间内快速收敛至期望队形并能进行时变的编队机动. 与已有的仿射编队控制律相比, 收敛
时间任意指定, 不受系统初值或控制参数影响, 且减轻了控制量跳变. 数值仿真验证了所提编队控制算法的有效性. |
| 英文摘要 |
| In this paper, the problem of affine formation control for multi-agent systems converging in a preset lead-time
is studied. By using affine transformation method based on stress matrix and lead-time stability theory, an affine lead-time
control algorithm is designed for leader-follower formation in undirected topology. The formation control algorithm not
only makes the configuration quickly converge to the desired configuration within the lead-time, but also makes it possible
to perform time-varying formation maneuvers. Compared with the existing affine formation control law, the convergence
time is arbitrarily specified, unaffected by the initial values of the system or control parameters, and abrupt changes in
control quantity are reduced. Numerical simulation verifies the effectiveness of the proposed formation control algorithm. |