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Control of Formation and Consensus for Networked Swarm Agents

Author: LiXiangShun
Tutor: FangHuaJing
School: Huazhong University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Distributed Control Group Consistency Formation Control Delay systems Robust Control Convergence and Delay robustness Linear matrix inequalities
CLC: TP393.07
Type: PhD thesis
Year: 2009
Downloads: 485
Quote: 4
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Abstract


The networking groups coordinated control system is a research hotspot in recent years in the field of UAVs, automated highway, sensor networks and other projects of great significance. These systems have a common characteristic, it is the interaction between the groups is local, and the overall preached more complex coordination behavior. This paper studies three aspects: the delay uncertainties robust stability of the networking group formation; consistency convergence of networking groups system performance and Delay robust performance analysis; networking groups consistency Lu rod control. The network group formation control involves the coordination between the various individual local controller network interconnection topology analysis, and group formations task groups. Typically, due to factors such as network bandwidth constraints and network congestion, the communication network is always accompanied by a time delay. In addition, due to the uncertainty of the environment as well as the system itself, a mathematical model based on the theoretical analysis is also necessary to take into account the uncertainty of the model system. In this article, we consider the static-free to the communication topology, the individual model for more general linear system, the control law for the linear case, used two methods to analyze the formation and stability of the delay network groups system sex. The method is based on the method of linear matrix inequalities, while the other one is similar to the Nyquist stability criterion, frequency domain method. The first method, the network group formation system, design the PD controller, first given delay independent and delay-dependent stability conditions of the the groups formation system communication Delay time invariant case, then given system model with the formation of the group delay of the uncertain situation Delay-independent and delay-dependent robust stability conditions. On this basis, in order to further reduce the results of the conservative and the results are extended to the groups of varying delay system, using free weight matrix method and linear matrix inequalities tools were given varying delay groups formation system stability time-varying conditions, as well as with model uncertainty Delayed groups formation system robust stability conditions. Simulation and calculations show the feasibility and effectiveness of the results. In the second method, the design of the controller for a general linear controller, conclusions applicable to both forward and no to FIG two situations. The papers were given group formation system stability equivalent conditions, as well as the criteria of the design of the controller. The networking groups system formation and consistency control problem, the convergence rate of the system and the time delay robustness analysis is very important. The system has a certain degree of convergence speed in many engineering groups system also need to be able to tolerate a certain communication delays. Therefore, how to improve the convergence of the system performance and the time delay robustness is very necessary. This article gives a solution for how to improve the convergence and the time delay of the the order groups system and the high-end group system robustness. Groups for first-order system, the the network optimal weight design method, the order of groups under the premise that meet certain convergence speed can tolerate a maximum communication delays. In this method, no system constituted by the design of network groups to the communication right to the edges of the topology map to the robustness of the system to meet the rapid convergence rate while Delay achieve the strongest. Because the convergence speed of this time the group systems Fig second Laplacian matrix proportional to the size of the small eigenvalues, and the system can tolerate the maximum Delay value is inversely proportional with the Laplacian of the largest eigenvalue, the paper by Laplacian appropriate deformation, can improve the convergence and the time delay of the optimization problem of the robustness of the problem is equivalent to the condition number of a positive definite matrix, this problem is a convex optimization problem can easily be solved. Second double integral system, this paper simulation analysis convergence and Delay robustness of the controller parameters Delay group formation system, obtained controller parameters on the performance of law in this determined on the basis of the optimal controller parameters. Delay robustness in order to further improve the system, the paper the first time using the Fractional the PD μ controller to control groups formation system, analysis of differential order μ and Delay robustness The relationship and to determine the optimal derivative order μ. The simulation results show that the design fractional PD of μ controller can greatly increase the convergence performance of the system and Delays robust performance. For groups of systems,, especially engineering systems, there is always such as interference and noise. In the disturbance and noise there, groups the original can achieve consistent system may not reach a consistent state. Group system to design a suitable controller to make the system reach consensus and performance robustness to noise and interference is very necessary and essential. This paper gives the static full connectivity with a network of groups in the two cases of a particular topology consistency H 2 of H ∞ H 2 / H ∞ controller design method. The paper gives a robust controller design method in the case of continuous time swarm system in limited energy noise, white noise limited energy noise exist. Then continue to expand the system of discrete-time groups, respectively, given the consistency of robust controller in the case of groups system in the discrete-time white noise, limited energy noise, white noise limited energy noise exist conditions. The simulation results show that the state feedback controller can be designed so that the system can achieve consistent and meet the robust performance indicators based on papers given theory. Finally, a summary of the full text of the study work, and the research work carried out to further develop in the future outlook.

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