满足LQR指标的群系统编队形成问题优化控制方法

doi:10.7527/S1000-6893.2022.26902

Abstract

Abstract: For the problem of formation achievement for swarm systems， an optimal control method with LQR performance index is put forward. Firstly， a mathematical description of the formation achievement problem is established， and a formation achievement control protocol is developed. Secondly， necessary and sufficient conditions for the swarm system with time-varying formation are obtained， and the stability of the system is analyzed using the Lyapunov approach. Then， the gain matrices of the formation protocol are designed， and the optimal conditions for the control protocol with LQR performance index are given. Finally， a numerical simulation is conducted to illustrate the effectiveness of the control method proposed.

Key words: swarm system, formation control, consensus, LQR performance index, gain matrix

CLC Number:

V249

WANG Lin, ZHANG Qingjie, CHEN Hongwei. Optimal control method for swarm systems formation with LQR performance index[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726902-726902.

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Optimal control method for swarm systems formation with LQR performance index

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