[author_cn_name].[cn_title][J].空军工程大学学报:自然科学版,[year_id],[volume]([issue]):[start_page]-[end_page] 时滞环境下具有不确定参数群系统的鲁棒一致性-Robust Consensus of Swarm Systems with Time-Varying Delays and Uncertain Parameters
文章摘要
李浩亮1,杨任农2,席茜1,张帅2,孟常亮1.时滞环境下具有不确定参数群系统的鲁棒一致性[J].空军工程大学学报:自然科学版,2019,20(2):98-104
时滞环境下具有不确定参数群系统的鲁棒一致性
Robust Consensus of Swarm Systems with Time-Varying Delays and Uncertain Parameters
  
DOI:10.3969/j.issn.1009-3516.2019.02.015
中文关键词: 群系统鲁棒一致性  PID控制  描述符方法  线性矩阵不等式
英文关键词: swarm system robust consensus  PID controller  a descriptor method  linear matrix inequality(LMI)
基金项目:国家自然科学基金(61601503)
作者单位
李浩亮1,杨任农2,席茜1,张帅2,孟常亮1 1.93704部队,北京,101100
2.空军工程大学空管领航学院,西安,710051 
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中文摘要:
      研究了普通线性群系统在存在时延和不确定参数条件下的鲁棒一致性问题。首先结合分布式PID控制和静态输出反馈提出一种新的一致性协议;然后引入描述符方法将闭环系统的微分方程转化为描述符模型,通过变量转换将一致性问题转化为渐近稳定问题;构造Lyapunov-Krasovskii泛函,基于线性矩阵不等式(LMI)给出了鲁棒控制器的设计方法。仿真结果表明:系统的结构拓扑图在存在全局可达节点的条件下,通过选择合适的PID参数,系统可实现一致性,且不确定参数会对系统的运动轨迹产生影响,通过与基于PD控制的一致性协议对比结果可知本文提出的一致性协议使得群系统收敛速度更快,鲁棒性更强。
英文摘要:
      Firstly, this paper proposes a novel protocol based on distributed PID control law and introduces a descriptor method to transform the differential equations of the closed systems into a descriptor model, transforming the consensus problem into an asymptotic stability problem. And then a Lyapunov-Krasovskii functional is constructed and the parameters of the consensus protocol are given based on the linear matrix inequality(LMI). The simulations show that if the topology contains a globally reachable node, through selecting appropriate PID parameters, the MAS can achieve consensus, and the uncertain parameters will cause bad effect to the trajectories of the systems. Compared with the PD-Control-Based consensus protocol, the proposed protocol makes the swarm systems converge faster, and the robustness stronger.
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