• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Automatica Sinica, IEEE/CAA Journal of >Decentralised formation control and stability analysis for multi-vehicle cooperative manoeuvre
【24h】

Decentralised formation control and stability analysis for multi-vehicle cooperative manoeuvre

机译：多车协同机动的分散编队控制与稳定性分析

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Multi-vehicle cooperative formation control problem is an important and typical topic of research on multi-agent system. This paper presents a formation stability conjecture to conceive a new methodology for solving the decentralised multi-vehicle formation control problem. It employs the “extension-decomposition-aggregation” scheme to transform the complex multi-agent control problem into a group of sub-problems which is able to be solved conveniently. Based on this methodology, it is proved that if all the individual augmented subsystems can be stabilised by using any approach, the overall formation system is not only asymptotically but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. Simulation study on 6-DOF aerial vehicles (Aerosonde UAVs) has been performed to verify the achieved formation stability result. The proposed multi-vehicle formation control strategy can be conveniently extended to other cooperative control problems of multi-agent systems.
机译：多车协同编队控制问题是多智能体系统研究的重要而典型的课题。本文提出了一种编队稳定性推测，以构想一种解决分散式多车编队控制问题的新方法。它采用“扩展-分解-聚合”方案将复杂的多智能体控制问题转化为一组子问题，这些子问题可以方便地解决。基于该方法论，证明了如果可以使用任何方法来稳定所有单独的增强子系统，则整个编队系统不仅在所需编队附近在Lyapunov的意义上是渐近稳定的而且还呈指数稳定。对六自由度飞行器（Aerosonde UAV）进行了仿真研究，以验证所取得的编队稳定性结果。所提出的多车辆编队控制策略可以方便地扩展到多智能体系统的其他协作控制问题。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号