基于自由权矩阵的时变时延线性群系统编队控制

doi:10.7527/S1000-6893.2017.21628

Abstract

Abstract: Based on free-weighting matrices method, the formation control for the linear swarm systems with time-varying delays is investigated. First, a protocol for the formation control with time-varying delays is proposed based on consensus theory. Second, the formation control problem is transformed into the stabilization problem of delay-dependent system using variable substitution. The Lyapunov-Krasovskii function is constructed, and the stabilization problem of the delay-dependent system is analyzed using free-weighting matrices method. Then, the Linear Matrix Inequality (LMI) criterion with lower conservatism is obtained. The upper bounds of delays and the controller gains are also given. Finally, the effectiveness of the method is verified through the simulation experiments.

Key words: swarm systems, consensus, formation control, free-weighting matrices, time-varying delays

CLC Number:

V249

SHI Xiaohang, ZHANG Qingjie, LYU Junwei. Formation control for linear swarm systems with time-varying delays based on free-weighting matrices[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018, 39(3): 321628-321628.

References

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Formation control for linear swarm systems with time-varying delays based on free-weighting matrices

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