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基于带有非线性动态的二阶多智能体系统,研究了在有动态领导者条件下的跟踪一致性问题。假设跟随者只能获取邻居智能体的相对状态信息,只有一部分跟随者可以获得领导者的位置和速度信息,领导者的控制输入非零且不被任何一个跟随者可知。在通信拓扑为无向连通图的条件下,为了避免全局信息的不确定性,设计了分布式自适应控制协议。将系统的一致性问题转化为误差系统的一致性问题,通过Lyapunov稳定性理论和矩阵理论分析得到了该协议使系统达到一致的充分条件。最后用仿真例子证明了设计方法的有效性。 相似文献
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基于近似模拟的多智能体系统分布式层次控制设计 总被引:2,自引:0,他引:2
本文主要探讨基于近似模拟的多智能体系统分布式层次控制的设计问题。为降低问题复杂度,首先建立了一个简单的抽象系统指导各智能体,继而讨论这一抽象系统和多智能体之间的模拟关系。借助于该抽象系统,给出多智能体系统完成一类协调任务的分布式层次控制器。同时利用模拟函数和共同Lyapunov函数,进一步分析了多个体系统在切换拓扑下的集体行为。 相似文献
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针对一类混合异质多智能体系统的分组一致性控制问题进行了研究。具体分析了由一阶智能体和二阶智能体组成的混合异质系统,研究其在离散情况下的分组一致性。基于两个合理的假设提出了线性控制协议,运用代数图论、稳定性理论和矩阵理论,分析协议作用下闭环系统的系统矩阵及动态特性,取得了系统渐近实现分组一致性的充分条件,该条件与系统拓扑结构、采样周期以及控制参数有关。结论同时适用于有向拓扑与无向拓扑,最后通过仿真实例对所得分析结果进行了验证。 相似文献
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综述了多智能体系统分布式一致性问题的研究现状。从理论层面介绍了一致性问题的几种常见定义及与特性相关的主要参数;总结归纳了近年来几种一致性协议及其理论分析结果;分析和阐述了一致性问题的主要应用领域的进展。展望了未来的研究方向。 相似文献
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多智能体系统分布式优化由于其高效性、灵活性和可靠性等特点吸引了大量学者的关注,在多机器人协同控制、无线传感器网络、能源系统等领域具有广泛的应用前景.分布式优化的基本目标是利用智能体的个体目标函数梯度、自身及其邻居状态信息设计分布式控制协议,驱动所有智能体的状态或输出到全局目标函数的最优解,系统动力学是影响智能体状态演化的重要因素.鉴于此,在回顾现有连续时间分布式优化算法的基础上,根据系统动力学分类,尽可能全面地评述具有复杂动力学的多智能体系统分布式优化问题的最新研究进展,并对未来发展方向进行展望. 相似文献
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A. S. Syrov A. M. Puchkov V. Yu. Rutkovskii V. M. Glumov 《Automation and Remote Control》2017,78(6):1128-1137
This paper considers flight control specifics for modern unmanned aerial vehicles with paths described by a wide range of altitudes, including super-aerodynamic flights. It is noted that this type of aerial vehicles belongs to multimode dynamic objects with varying characteristics in the course of their operation. Adaptive control methods used in control systems for unmanned aerial vehicles are overviewed. Finally, adaptive control capabilities are studied for the vehicle’s angular position in gliding and cruising modes under combined jet reaction and aerodynamic control. 相似文献
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针对存在执行器复合故障的固定翼无人机跟踪控制问题,本文提出一种基于非确定性等价原理的自适应容错飞行控制策略.该策略能够有效地估计无人机纵向动态中执行器的失效及漂移故障,保证故障发生后闭环系统的最优性能指标.在自适应容错飞行控制设计中,通过引入辅助系统并动态调节因子,构造非确定性等价原理中偏微分方程的近似解,以简化自适应律设计复杂度.此外,借助Lyapunov稳定性分析方法,证明了在所设计的自适应容错控制器作用下闭环系统的稳定性.最后,仿真验证表明所设计的控制方法能够保证故障无人机的闭环系统性能. 相似文献
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This paper considers the output-feedback formation problem of tracking a desired trajectory for a group of networked unmanned aerial vehicles (UAVs). By introducing a state observer, the controller for the non-holonomic UAV model can be designed without linear and angular velocities measurements. The formation robustness can be improved by applying the virtual structure and synchronising the path parameters. It is proved that, with the proposed control strategy, all the closed-loop signals are bounded and the formation tracking errors asymptotically converge to zero. Simulation results are given to illustrate the effectiveness of the proposed control strategy. 相似文献
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Unmanned aerial vehicles (UAVs) with limited energy resources,severe path loss,and shadowing to the ground base stations are vulnerable to smart jammers that ai... 相似文献
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本文首先介绍了一种小型四旋翼无人机的设计过程,从机架设计、动力匹配、机载控制器、传感器、无线通信等多个方面进行了较为详尽的阐述.采用牛顿―欧拉法对四旋翼无人机进行动力学分析,完成了六自由度数学模型的推导.进一步对系统的模型参数进行了测量和计算,并给出了结果.在此基础上,为了满足无人机快速跟踪性能的要求,本文基于快速终端滑模的思想,进行了闭环控制器的设计,并给出了基于Lyapunov函数的稳定性证明.控制器采用分环控制的结构形式,内环为姿态控制,外环为位置控制.最后结合设计的四旋翼无人机,给出的仿真结果验证了控制算法的有效性. 相似文献
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This paper proposes a fixed-time backstepping distributed cooperative control scheme based on fixed-time extended state observer (FxTESO) for multiple unmanned aerial vehicles (UAVs). A fixed-time ESO, which is convergent independently of initial conditions, is designed to estimate and compensate the external disturbances in tracking process. Moreover, to eliminate the “explosion of complexity” in the traditional backstepping architecture, a nonlinear first-order filter is adopted to construct the distributed fixed-time control scheme. Based on the local information of neighboring UAVs, a fixed-time backstepping cooperative controller is designed. The proposed formation algorithm can be shown practicable for the UAV control system by using of Lyapunov stability theory and graph theory. Simulation results are given to demonstrate the effectiveness of the proposed control scheme. 相似文献
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针对存在复合干扰的飞翼布局无人机(UAV)姿态控制问题,提出了一种基于分数阶积分滑模与双幂次趋近律的姿态跟踪控制方案.结合分数阶微积分及滑模变结构控制理论,设计了分数阶积分滑模面.为解决传统趋近律收敛时间长和抖振严重等不足,提出一种具有二阶滑模特性且有限时间收敛的双幂次趋近律.在名义控制律的基础上,设计super twisting滑模干扰观测器,实现对复合干扰的估计和补偿,增强内外环控制器应对复合干扰的鲁棒性.为充分利用冗余操纵面与解决非线性舵效问题,在飞行控制系统中引入了非线性控制分配环节.仿真结果验证了所提方案的有效性. 相似文献
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Current applications using single unmanned vehicle have been gradually extended to multiple ones due to their increased efficiency in mission accomplishment, expanded coverage areas and ranges, as well as enhanced system reliability. This paper presents a flocking control method with application to a fleet of unmanned quadrotor helicopters (UQHs). Three critical characteristics of formation keeping, collision avoidance, and velocity matching have been taken into account in the algorithm development to make it capable of accomplishing the desired objectives (like forest/pipeline surveillance) by safely and efficiently operating a group of UQHs. To achieve these, three layered system design philosophy is considered in this study. The first layer is the flocking controller which is designed based on the kinematics of UQH. The modified Cucker and Smale model is used for guaranteeing the convergence of UQHs to flocking, while a repelling force between each two UQHs is also added for ensuring a specified safety distance. The second layer is the motion controller which is devised based on the kinetics of UQH by employing the augmented state-feedback control approach to greatly minimize the steady-state error. The last layer is the UQH system along with its actuators. Two primary contributions have been made in this work: first, different from most of the existing works conducted on agents with double integrator dynamics, a new flocking control algorithm has been designed and implemented on a group of UQHs with nonlinear dynamics. Furthermore, the constraint of fixed neighbouring distance in formation has been relaxed expecting to significantly reduce the complexity caused by the increase of agents number and provide more flexibility to the formation control. Extensive numerical simulations on a group of UQH nonlinear models have been carried out to verify the effectiveness of the proposed method. 相似文献
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针对四旋翼飞行器参数不确定性和外部干扰敏感的问题,本文提出一种基于自抗扰控制器的控制系统设计方法.在为期望姿态和高度安排过渡过程的基础上,设计了扩张状态观测器对内扰和外扰进行估计并实时补偿,能够很好地克服飞行器的强耦合性、模型不确定性以及风速变化等外部干扰问题.此外本文还设计了非线性状态误差反馈控制律来有效抑制跟踪误差.在仿真平台上对自抗扰控制系统进行稳定控制、姿态跟踪、高度控制、抗扰性及鲁棒性实验,并与串级PID控制系统进行定量对比分析.仿真结果表明,本文所设计的自抗扰控制器不仅能够很好地估计并补偿系统所受内外部干扰,而且对四旋翼飞行器参数的不确定性具有较强的鲁棒性,能够满足飞行器姿态调节快速和高稳定度的控制要求,性能指标明显优于串级PID控制器. 相似文献