高阶多智能体系统的具有指定性能的基于距离的编队控制
Distance-Based Formation Control with Prescribed Performance for Higher-Order Multi-Agent Systems
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中文总结 AI 辅助
针对相对阶大于1的未知非线性多智能体系统，提出分布式无模型控制律，实现基于距离的编队控制，保证误差满足指定约束且信号有界，通过仿真验证了方法有效性。
中文摘要 AI 辅助
本文针对由相对阶大于1的未知非线性动力学建模的多智能体系统，研究具有指定瞬态性能的分布式基于距离的编队控制问题。我们引入虚拟领导者，由指定的智能体子集以指定的瞬态行为跟踪其轨迹。无向通信图为树图或最小无穷小刚性图；对于后者，我们进一步考虑质心跟踪目标。在每种设置下，均开发了分布式无模型控制律，证明了编队误差和跟踪误差满足指定的漏斗约束，且所有闭环信号均有界。数值仿真验证了所提控制律的有效性。
英文摘要
We consider distributed distance-based formation control with prescribed transient performance for multi-agent systems modeled by unknown nonlinear dynamics of relative degree greater than one. We introduce a virtual leader whose trajectory is tracked with prescribed transient behavior by a designated subset of agents. The undirected communication graph is either a tree graph or a minimally and infinitesimally rigid graph. In the latter case, we further consider the objective of centroid tracking. In each setting, a distributed and model-free control law is developed, and we establish the satisfaction of the prescribed funnel constraints on the formation and tracking errors, and boundedness of all closed-loop signals. Numerical simulations illustrate the effectiveness of the proposed control laws.
