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具有死区的多智能体系统预设时间编队控制

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针对一类具有输入死区的多智能体系统的编队控制问题,提出了一种基于事件触发机制的预设时间编队控制方法.基于事件触发机制进行控制设计,以减少冗余信号的传输.同时,通过反步法构造一种自适应模糊编队控制方法,实现死区约束下的多智能体系统编队控制.为进一步加快系统形成编队,通过预设协同时间算法对系统进行转换,使系统在预设时间内收敛形成预设的编队.通过理论分析和仿真结果验证了所提出控制方法的有效性.
Prescribed-time formation control for multiagent system with dead-zone
Focus on the formation control problem of a class of multiagent system with input dead-zone,a prescribed-time formation control method was proposed based on an event-triggered strategy.By utilizing the event-triggered mechanism for control design,the transmission of redundant signals was reduced.Meanwhile,applying the backstepping method,an adaptive fuzzy formation control method was constructed to guarantee the formation control of multiagent system under dead-zone constraints.To further accelerate the formation of formations in the system,the system is converted through a preset collaborative time algorithm,and the system can converge to the prescribed formation within the prescribed time.The effectiveness of the proposed control method is verified by theoretical analysis and simulation results.

multiagent systeminput dead-zoneformation controlevent-triggered controlprescribed-time

唐睿智、刘嘉睿、周晓阳、张苑晴、丁家烨、王建晖

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广州大学机械与电气工程学院,广东广州 510006

多智能体系统 输入死区 编队控制 事件触发控制 预设时间

国家自然科学基金项目国家自然科学基金项目广东省基础与应用基础研究基金项目广东省基础与应用基础研究基金项目广州市科技计划项目"羊城学者"科研项目"攀登计划"科研项目

52275097522050902023A15150113112024A1515012326202002030286202235199pdjh2024a297

2024

10.13624/j.cnki.issn.1001-7445.2024.0854

广西大学学报(自然科学版)
广西大学

广西大学学报(自然科学版)

CSTPCD北大核心
影响因子：0.767
ISSN：1001-7445
年,卷(期)：2024.49(4)