| 引用本文: | 张安慧,陈健,孔宪仁,王峰.二阶系统包容控制算法及其收敛速度分析[J].哈尔滨工业大学学报,2014,46(9):1.DOI:10.11918/j.issn.0367-6234.2014.09.001 |
| ZHANG Anhui,CHEN Jian,KONG Xianren,WANG Feng.Containment control protocol and its convergence speed analysis for double-integrator dynamics systems[J].Journal of Harbin Institute of Technology,2014,46(9):1.DOI:10.11918/j.issn.0367-6234.2014.09.001 |
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| 摘要: |
| 针对具有多领航者的二阶系统分布式协同控制问题,提出了一种一般性的包容控制算法,并基于控制增益系数和系统信息拓扑拉普拉斯矩阵的特征值给出了系统收敛的充分必要条件．在此基础上,进一步研究了控制增益系数和系统信息拓扑对系统收敛速度的影响,给出了取得极大收敛速度的控制增益系数解析表达式,并利用Weyl定理证明了增加系统中的信息链路可以提高系统收敛速度．最后,系统仿真验证了所得结论的正确性． |
| 关键词: 分布式协同控制 代数图论 多领航者 包容控制 收敛速度 |
| DOI：10.11918/j.issn.0367-6234.2014.09.001 |
| 分类号:TP13 |
| 基金项目:国家自然科学基金资助项目 (60904051). |
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| Containment control protocol and its convergence speed analysis for double-integrator dynamics systems |
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ZHANG Anhui1, CHEN Jian1,2, KONG Xianren1, WANG Feng1,2
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(1. Research Center of Satellite Technology, Harbin Institute of Technology, 150080 Harbin, China; 2. National and Local United Engineering Research Center of Small Satellite Technology, 130033 Changchun, China)
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| Abstract: |
| A general containment control algorithm is proposed for distributed coordinated control of double-integrator dynamics system with multiple leaders. Necessary and sufficient conditions on convergence are presented based on the control gains and system Laplacian eigenvalues. Furthermore, the influences of control gains and the information topology on system convergence rate are investigated. Specifically, the control gains which achieve maximal convergence rate are given, and it is proved by using Weyl theorem that the system convergence rate can be improved by adding information links. Finally, numerical simulations are given to illustrate the main results. |
| Key words: distributed coordinated control algebraic graph theory multiple leaders containment control convergence speed |
