舰船电子工程2023，Vol.43Issue(12)：33-37,44,6.DOI:10.3969/j.issn.1672-9730.2023.12.007
具有输入时延和干扰的鲁棒仿射机动编队控制
Robust Affine Maneuver Formation Control with Input Delay and Disturbance
摘要
Abstract
A novel robust affine formation control algorithm with prescribed performance is proposed for the multi-agent affine maneuver tracking control problem with input time delay and disturbances.Firstly,the time-delay system is converted into a time delay-free system by using the Artstein model reduction method.Performance bounds are set on the tracking error of the system by a prescribed performance function.A new control law is designed using the error transition function that allows the multi-agent system to achieve affine formation maneuver control despite input time delays and disturbances.The stability of the system is proved using input-to-state stabilization and Lyapunov based analysis.Finally,the simulation paradigm shows the effectiveness of the proposed control scheme.关键词
鲁棒控制/预设性能控制/编队控制/输入时延/未知干扰Key words
robust control,prescribed performance control,formation control/input delay,unknown disturbance分类
信息技术与安全科学引用本文复制引用
马戥军,张鹏,李孟委..具有输入时延和干扰的鲁棒仿射机动编队控制[J].舰船电子工程,2023,43(12):33-37,44,6.基金项目
国家"173"项目(编号:2021-JCJQ-JJ-0726)资助. （编号:2021-JCJQ-JJ-0726）
