基于一致性理论之飞机群运动控制

提出了一种新的基于平均状态信息的一致性算法,把它应用到一阶系统和二阶系统。应用频域中的分析方法,得到了系统收敛速度的充分条件。由于通信网络中不可避免的存在个体本身和其他个体之间的时滞问题,在此进一步分析了在具有时滞的条件下,系统使用所提出的一致性算法的稳定性问题。针对二阶多智能体系统,首先提出在无向网络下平均状态一致性算法,基于给定的条件,分析得到了系统能够达到静态一致和动态一致的充分条件。最后,将提出的算法在多飞机群的编队控制中进行了应用。

Aircraft group control based on consensus

This paper presents a new algorithm for the consistency of information based on the average state, and it is applied in first-order system and second-order system. Frequency domain analysis method is used to obtain sufficient conditions for the convergence rate. Due to the inevitable presence of the communication network itself and the other individual time lag problems between individuals, the paper further analyzes the stability of the system under time delay which uses the proposed consistency algorithm. For second-order multi-agent system, firstly, consensus algorithm of average state under the undirected network is proposed and based on the given conditions, sufficient conditions are obtained under which the system achieves static consistent and dynamic consistent. Finally, the algorithm is applied in a multi-aircraft formation control groups.