自动化学报2017，Vol.43Issue(1)：40-59,20.DOI:10.16383/j.aas.2017.c150537
基于庞特里亚金极小值原理的多运载体有限时间编队控制
Finite Time Formation Control for Multiple Vehicles Based on Pontryagin0s Minimum Principle
摘要
Abstract
The paper studies the problem of finite time formation control for multiple vehicles based on Pontryagin0s minimum principle. The vehicle is modeled as a fully actuated rigid body with the dynamics evolving on the tangent bundle of Euclidean group. Both the formation maneuver time and the geometric structure of the formation are specified by the formation task. For the required formation, an open loop optimal control law is derived by using Pontryagin0s minimum principle. In order to overcome the sensitivity of the open-loop control to the disturbance and increase the robustness of the control law to the initial perturbation, the open loop control law is converted to the closed loop form. This is done by feeding the current state back and initializing the control law at the current time, under the assumption that the mode of communication between the vehicles is all-to-all. For demonstration of the result, some numerical examples of formations for both planar and spacial vehicles are included.关键词
有限时间编队控制/一致性/多运载体/极小值原理Key words
Finite time formation control/consensus/multiple vehicles/minimum principle引用本文复制引用
耿志勇..基于庞特里亚金极小值原理的多运载体有限时间编队控制[J].自动化学报,2017,43(1):40-59,20.基金项目
国家自然科学基金(61374033)资助Supported by National Natural Science Foundation of China (61374033) （61374033）
