四川轻化工大学学报（自然科学版）2025，Vol.38Issue(4)：68-78,11.DOI:10.11863/j.suse.2025.04.08
基于H∞的时滞多智能体编队包容控制研究
Study on the Containment Control of Delayed Multi-agent Formation Based on H∞
摘要
Abstract
For second-order time-delayed multi-agent systems with external disturbances,the formation containment control of multi-agent systems is achieved by the Lyapunov Krasovskii function and linear matrix inequality method,which maintains the stability of formation motion under external disturbances and shows a certain tolerance for time delay.To achieve formation containment control,a distributed delayed feedback controller based on relative states between adjacent intelligent agents is proposed.By utilizing tools from graph theory and matrix theory,the containment control problem of multi-agent systems under the proposed controller is transformed into the problem of system stability.Subsequently,sufficient conditions ensuring the existence of a state feedback containment controller are provided in the form of linear matrix inequalities.Taking the presence of external disturbances and delays into consideration,the stability and convergence of the system are ensured,meeting H∞ performance criteria,which effectively guides followers into a convex hull formed by the leaders.Simulation results validate that the proposed control method can enable rapid formation of stable formations among multiple intelligent agents,achieving convergence within 20 time steps after the execution of the control strategy.关键词
二阶时滞多智能体系统/外部干扰/分布式编队包容控制/H∞性能指标Key words
second-order time-delayed multi-agent systems/external disturbances/distributed formation containment control/H∞ performance分类
信息技术与安全科学引用本文复制引用
吴汉,陈昌忠,龙海军,陈旭..基于H∞的时滞多智能体编队包容控制研究[J].四川轻化工大学学报（自然科学版）,2025,38(4):68-78,11.基金项目
重庆市自然科学基金项目(CSTB2022NSCQ-MSX0789) （CSTB2022NSCQ-MSX0789）
四川轻化工大学科研创新团队项目(652A011 （）
652B005) （）
