Formation control for networked multiagent systems with a minimum energy constraint

Minimum-energy formation achievement problems for networked multiagent systems are investigated, where information networks with leaderless and leader-follower structures are respectively addressed and information networks are randomly switching. The critical feature of this work is that the energy constraint is minimum in the sense of the linear matrix inequality, but limited-budget control and guaranteed-cost control cannot realize a minimum-energy formation. Firstly, the leaderless minimum-energy formation control problem is converted into an asymptotic stability one via a nonsingular transformation and state space decomposition, and based on linear matrix inequality techniques, sufficient conditions for analysis and design of leaderless minimum-energy formation achievement are proposed, respectively, which can be solved by the generalized eigenvalue method. Then, main results of minimum-energy formation achievement of leaderless networked multiagent systems are extended leader-follower networked multiagent systems, where the asymmetric property of the leader-follower information network is well dealt with by two nonsingular transformations. Finally, two simulation examples are shown to verify the main results for minimum-energy formation achievements of leaderless and leader-follower networked multiagent systems, respectively.     

通信拓扑切换下的预定时间分组协同制导方法

针对通信网络拓扑结构切换下的协同制导问题，提出了一种预定时间协同制导方法(PTCGL),以保证拓扑切换下的预定时间分组收敛。首先，建立三维飞行器协同制导模型和拓扑切换下的分组协同架构：组间利用小组领队飞行器之间的协作实现分组配合，组内则通过有向通信实现组协同。随后，在通信网络拓扑结构切换的情况下，结合牵制控制和预定时间理论，基于M矩阵假设的牵制分组误差和预定时间尺度函数提出拓扑切换三维预定时间协同制导律。进一步，考虑拓扑切换驻留时间，利用Lyapunov理论证明在通信拓扑切换的情况下，该制导律可实现预定时间收敛。最后，数值仿真结果验证了所提出的协同制导方法可实现在拓扑切换下的预定时间收敛、保证分组协同打击。