基于输出反馈的集群系统双边编队控制

doi:10.16180/j.cnki.issn1007-7820.2023.05.007

电子科技 ›› 2023, Vol. 36 ›› Issue (5): 41-46.doi: 10.16180/j.cnki.issn1007-7820.2023.05.007

基于输出反馈的集群系统双边编队控制

唐凯,章伟,胡陟,王为科

上海工程技术大学机器人智能控制实验室,上海 201620

收稿日期:2021-11-22 出版日期:2023-05-15 发布日期:2023-05-17
作者简介:唐凯(1995-),男,硕士研究生。研究方向:集群系统编队跟踪控制。|章伟(1977-),男,博士,教授。研究方向:非线性控制与观测、多智能体协调控制。|王为科(1992-),男,硕士研究生。研究方向:多智能体协调控制算法。
基金资助:
国家自然科学基金(62003207)

Bipartite Formation Control of Swarm Systems Based on Output Feedback

TANG Kai,ZHANG Wei,HU Zhi,WANG Weike

Laboratory of Intelligent Control and Robotics,Shanghai University of Engineering Science, Shanghai 201620,China

Received:2021-11-22 Online:2023-05-15 Published:2023-05-17
Supported by:
National Natural Science Foundation of China(62003207)

摘要/Abstract

摘要：

集群系统是由局部之间有信息交互的多个智能体所组成的特定系统。实际应用中智能体部分状态检测较为困难,且智能体间可以是互相合作也可以是互相竞争的关系。文中在有符号网络拓扑结构下设计了一种基于输出反馈的分布式集群系统双边对抗编队控制协议,此策略以相邻智能体间的输出状态作为反馈信息,无需依赖通信拓扑结构的全局信息。考虑到真实系统会受到外部扰动影响,基于李雅普诺夫稳定性理论给出了控制协议能够保证系统误差最终一致有界的充分条件,并对协议进行鲁棒性分析,给出了误差最终一致收敛的残差集。根据设计的控制协议及编队条件进行模拟仿真,验证了协议的有效性,并得到了不同初始范围下系统达到稳定的时间对比。

关键词: 输出反馈, 对抗编队, 集群系统, 外部扰动, 有符号拓扑, 稳定性理论, 误差有界, 鲁棒性分析

Abstract:

The swarm system is a specific system composed of multiple agents interacting with information locally. Part of agents’ state is difficult to available or even undetectable in practical applications, and the relationship between agents can be cooperative or competitive. In this study, a bipartite formation control protocol for distributed swarm systems based on output feedback is designed under the signed network topology. This strategy takes the output state between neighboring agents as the feedback information without relying on the global information of the communication topology. Considering that the real systems are often affected by external disturbances, some sufficient conditions that the control protocol can guarantee the system error is finally uniformly bounded are established based on Lyapunov stability theory. After analyzing the robustness of the protocol, the residual set of the final uniformly convergent errors is given. According to the designed control protocol and formation conditions, simulation is carried out to verify the effectiveness of the protocol, and the time for the system to reach stability under different initial ranges is given.

Key words: output feedback, bipartite formation, swarm systems, external disturbances, signed topology, stability theory, error bounded, robust analysis

中图分类号:

TP273.3

唐凯,章伟,胡陟,王为科. 基于输出反馈的集群系统双边编队控制[J]. 电子科技, 2023, 36(5): 41-46.

TANG Kai,ZHANG Wei,HU Zhi,WANG Weike. Bipartite Formation Control of Swarm Systems Based on Output Feedback[J]. Electronic Science and Technology, 2023, 36(5): 41-46.

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初始状态取值范围	系统稳定时间/s
[-25,25]	14.7
[-50,50]	15.2
[-75,75]	15.6
[-100,100]	16.7

基于输出反馈的集群系统双边编队控制

Bipartite Formation Control of Swarm Systems Based on Output Feedback

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