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山东大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (5): 79-88.doi: 10.6040/j.issn.1672-3961.0.2017.255

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一种时延多智能体系统的分布式编队

秦利国1,何潇1,周东华1,2*   

  1. 1. 清华大学自动化系, 北京 100084;2. 山东科技大学电气与自动化工程学院, 山东 青岛 266590
  • 收稿日期:2017-02-10 出版日期:2017-10-20 发布日期:2017-02-10
  • 通讯作者: 周东华(1963— ),男,江苏江阴人,教授,博士,主要研究方向为动态系统的故障诊断与容错控制,故障预测与最优维护技术.E-mail: zdh@mail.tsinghua.edu.cn E-mail:qinlg11@mails.tsinghua.edu.cn
  • 作者简介:秦利国(1988— ),男,山东莱芜人,博士研究生,主要研究方向为分布式控制,多智能体系统故障诊断和容错控制.E-mail: qinlg11@mails.tsinghua.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(61490701,61210012,61290324,61473163,61522309);中国山东泰山学者研究基金资助项目;清华大学自主科研青年基金资助项目(2013Z09)

A new distributed formation for multi-agent systems with constant time delays

QIN Liguo1, HE Xiao1, ZHOU Donghua1,2*   

  1. 1. Department of Automation, Tsinghua University, Beijing 100084, China;
    2. College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, Shandong, China
  • Received:2017-02-10 Online:2017-10-20 Published:2017-02-10

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摘要： 针对具有定常时延的二阶积分器多智能体系统,提出一种不依赖时延的分布式编队控制律。通过引入编队误差的积分信息,设计一种新的分布式比例积分微分控制律。和当前的编队控制律相比,分布式比例积分微分控制律具有对部分恒偏差故障鲁棒的特性。利用Nyquist稳定性判据,通过分析系统开环传递函数的幅相曲线特性,给出独立于时延的编队控制律存在的充要条件。仿真结果验证了该方法的有效性。

关键词: 编队系统, 分布式控制, Nyquist稳定性判据, 频域分析, 时延, 传递函数

Abstract: A new delay independent distributed formation control law was presented for a network of second-order integrators subject to constant time delays. A new augment variable which represented the integration of distributed formation errors was introduced to improve the robustness of the formation control law. Different from current distributed control laws, the presented control law was robust to some constant bias faults. A condition on the existence of the delay independent formation control law was proposed by using Nyquist stability criterion. The simulation demonstrated the effectiveness of the control law.

Key words: distributed control, frequency-domain analysis, formation, time delays, Nyquist stability criterion, transfer function

中图分类号: 

  • TP277
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