| 摘要: |
| 研究混杂脉冲控制下二阶非线性多智能体系统的双向编队控制问题,以及保性能双向编队控制问题.根据领导智能体、目标编队以及邻居智能体的状态对每个智能体设计双向编队控制的状态反馈控制器及脉冲控制器.基于双向编队的目标,定义适当的误差系统,将双向编队问题转化为误差系统的稳定性问题.利用平均脉冲强度以及平均脉冲区间的定义,给出在混杂的脉冲控制下二阶非线性多智能体系统实现双向编队的充分条件,并分析连续的状态反馈控制器和离散的脉冲控制器对双向编队控制的作用.对于给定的性能函数,给出多智能体系统实现保速度性能双向编队的充分条件.最后,通过两个数值模拟实验验证所得到的理论结果的有效性. |
| 关键词: 双向编队 脉冲控制 平均脉冲区间 平均脉冲强度 保性能 多智能体系统 |
| DOI：10.13195/j.kzyjc.2019.0854 |
| 分类号:TP273 |
| 基金项目:国家自然科学基金项目(61872260,61603268)；山西省重点研发计划国际合作项目(201703D421013). |
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| Guaranteed cost bipartite formation problem of multi-agent systems with impulse control |
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WANG Wei1,WANG Li1,HUANG Chi2
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(1. College of Data Science,Taiyuan University of Technology,Taiyuan030024,China;2. School of Economic Information and Engineering,Southwestern University of Finance and Economics,Chengdu610074,China)
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| Abstract: |
| Bipartite formation and guaranteed bipartite formation of second-order nonlinear multi-agent systems with hybrid impulses are investigated. According to the states of the leader agent, the target formation and neighbor agents, a feedback controller and impulse controller for bipartite formation are designed. Based on the target of bipartite formation, an appropriate error system is defined to transform the bipartite formation problem into the stability of error systems. Based on the definitions of average impulsive interval and average impulsive gain, a sufficient condition is given to solve the bipartite formation problem for second-order nonlinear multi-agent systems with the hybrid impulse controller. The effects of the continuous state feedback controller and the discrete impulse controller on bipartite formation control are analyzed. Then, for a given performance function, a sufficient condition is given for the multi-agent systems to realize bipartite formation with the guaranteed velocity performance. Finally, the effectiveness of the theoretical results is illustrated by two numerical simulations |
| Key words: bipartite formation impulsive control average impulsive interval average impulsive gain guaranteed cost multi-agent systems |
