噪声环境下时滞多智能体系统的非线性编队控制

路晓庆; 王耀南; 毛建旭

doi:10.3724/SP.J.1004.2014.02959

噪声环境下时滞多智能体系统的非线性编队控制

doi: 10.3724/SP.J.1004.2014.02959

1.
湖南大学电气与信息工程学院长沙 410082

基金项目:

Supported by National Natural Science Foundation of China (61403133, 61273215, 61203148, 61072121, 61175075), International Postdoctoral Exchange Fellowship Program (20140034), Young Teachers Growth Plan of Hunan University (531107040651), China Postdoctoral Science Foundation (2013M540627), Hunan Provincial Postdoctoral Special Foundation (2013RS4042), Hunan Provincial Postdoctoral Daily Foundation (897202100), Natural Science Foundation of Hunan Province (14JJ3051), and Doctoral Fund of Ministry of Education of China (20130161120016)

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出版历程
- 收稿日期: 2013-07-18
- 修回日期: 2014-01-03
- 刊出日期: 2014-12-20

Nonlinear Control for Multi-agent Formations with Delays in Noisy Environments

1.
College of Electrical and Information Engineering, Hunan University, Changsha 410082, China

Funds:

摘要

摘要: 研究了噪声环境下具有向网络拓扑结构的时滞多智能体系统的非线性编队控制问题. 首先, 建立了一类随机时滞微分方程的稳定性理, 并提出了三类含多层领导者的非线性编队控制协议, 即时不变编队、时变编队以及时变编队轨迹追踪; 其次, 基于上述稳定性理论给出了这三类编队控制协议分别引导受控系统实现均方指数稳定和几乎必然指数稳定的充分性条件; 最后, 给出的仿真实例进一步验证了文中理论结果的有效性.
- 编队控制 /
- 多智能体系统 /
- 时滞 /
- 噪声
Abstract: In this paper, we investigate the nonlinear control problem for multi-agent formations with communication delays in noisy environments and in directed interconnection topologies. A stable theory of stochastic delay differential equations is established and then some sucient conditions are obtained based on this theory, which allow the required formations to be gained at exponentially converging speeds with probability one for time-invariant formations, time-varying formations, and time-varying formations for trajectory tracking under a special multiple leaders framework. Some numerical simulations are also given to illustrate the effectiveness of the theoretical results.
- Formation control /
- multi-agent systems /
- delays /
- noise

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参考文献(32)

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