多智能体系统自适应固定时间编队控制

doi:10.12305/j.issn.1001-506X.2025.02.26

系统工程与电子技术 ›› 2025, Vol. 47 ›› Issue (2): 600-607.doi: 10.12305/j.issn.1001-506X.2025.02.26

• 制导、导航与控制 • 上一篇

多智能体系统自适应固定时间编队控制

李嘉乐¹, 钟绮霖², 肖杰², 李国飞²^,*

1. 西北工业大学航空学院, 陕西西安 710072
2. 西北工业大学航天学院, 陕西西安 710072

收稿日期:2024-06-05 出版日期:2025-02-25 发布日期:2025-03-18
通讯作者: 李国飞
作者简介:李嘉乐 (2002—), 女, 博士研究生, 主要研究方向为多飞行器编队控制
钟绮霖 (2001—), 女, 硕士研究生, 主要研究方向为多智能体系统控制
肖杰 (2001—), 男, 硕士研究生, 主要研究方向为多飞行器编队控制
李国飞 (1991—), 男, 副教授, 博士, 主要研究方向为多飞行器协同制导与编队控制
基金资助:
国家自然科学基金面上项目(62373304);国家自然科学基金青年基金(62003021);中国科协青年人才托举工程(YESS20230443);中国高校产学研创新基金(2021ZYA02009);陕西秦创原引用高层次创新创业人才项目(QCYRCXM-2022-136);陕西省科协青年人才托举计划(XXJS202218);中央高校基本科研业务费(D5000210830)

Adaptive fixed-time formation control for multi-agent system

Jiale LI¹, Qilin ZHONG², Jie XIAO², Guofei LI²^,*

1. School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China
2. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China

Received:2024-06-05 Online:2025-02-25 Published:2025-03-18
Contact: Guofei LI

摘要/Abstract

摘要：

针对领导者信息非全局已知以及系统非线性项未知的问题, 提出自适应律, 对领导者速度上界及非线性项参数上界进行估计, 进而实现固定时间收敛的编队控制。首先, 基于领导者-跟随者框架, 构建二阶非线性多智能体模型; 随之, 根据反步法给出编队控制律, 以保证编队控制方法的固定时间收敛特性; 同时, 为了减轻系统计算负担和平滑虚拟控制律, 引入固定时间收敛的滤波器。进一步, 基于李雅普诺夫稳定性理论分析系统稳定性及固定时间收敛特性; 最后, 通过仿真验证参数自适应律和控制律的有效性。

关键词: 多智能体系统, 编队控制, 自适应律, 固定时间收敛

Abstract:

Aiming at the problems that the leader information is not globally known and the nonlinear term of systems is unknown, adaptive laws to estimate the upper bound of the leader's velocity and the upper bound of the nonlinear term parameter are proposed. Firstly, based on the leader-follower structure, a second-order nonlinear multi-agent system model is constructed. Secondly, the formation control law is given based on the backstepping technique, which guarantees the fixed-time convergence property of the formation control method. In addition, a filter with fixed-time convergence is introduced to alleviate the computational pressure of the system and smooth the virtual control law. Further, the system stability and fixed-time convergence characteristics are analyzed based on the Lyapunov stability theory. Finally, the validity of parameter adaptive law and control law is verified by a simulation test.

Key words: multi-agent system, formation control, adaptive law, fixed-time convergence

中图分类号:

TP273

李嘉乐, 钟绮霖, 肖杰, 李国飞. 多智能体系统自适应固定时间编队控制[J]. 系统工程与电子技术, 2025, 47(2): 600-607.

Jiale LI, Qilin ZHONG, Jie XIAO, Guofei LI. Adaptive fixed-time formation control for multi-agent system[J]. Systems Engineering and Electronics, 2025, 47(2): 600-607.

图/表 9

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编号	x/m	y/m	z/m	v/(m/s)
领导者	0	0	0	[0.3, 0.41, 0.5]^T
智能体#1	0.5	-0.5	0.5	0₃
智能体#2	-1.0	-0.5	0.5	0₃
智能体#3	0.5	0.5	1.0	0₃

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多智能体系统自适应固定时间编队控制

Adaptive fixed-time formation control for multi-agent system

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