摘要
针对群系统编队跟踪问题,提出一种满足线性二次型调节器性能指标的优化控制方法。建立编队跟踪问题的数学描述和设计编队跟踪控制协议。给出群系统实现编队跟踪的充要条件,借助李雅普诺夫第二方法分析系统的稳定性。得到了控制协议能够最小化线性二次型调节器性能指标的拓扑条件,设计了编队跟踪算法。仿真实验验证了控制方法的有效性。
For the formation tracking problem for swarm systems,an optimal control method with linear quadratic regulator performance index was put forward.Establish the mathematical description of the formation tracking problem and design a formation tracking control protocol.Necessary and sufficient conditions for swarm systems with formation tracking were obtained and the stability of the system was analysed by using the second method of Lyapunov.Topology conditions of the control protocol which can minimize linear quadratic regulator performance index were obtained and the formation tracking algorithm was designed.A numerical simulation was provided to illustrate the effectiveness of the control method.
作者
王琳
张庆杰
陈宏伟
WANG Lin;ZHANG Qingjie;CHEN Hongwei(Air Force Aviation University,Changchun 130022,China)
出处
《国防科技大学学报》
EI
CAS
CSCD
北大核心
2022年第4期60-68,共9页
Journal of National University of Defense Technology
基金
国家部委基金资助项目(315090303)
关键词
群系统
编队跟踪
线性二次型调节器
swarm systems
formation tracking
linear quadratic regulator
