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本文研究了通信时延和联合连通切换拓扑条件下的多刚体系统分布式姿态一致性控制问题.通过构建有效的辅助向量并选择合适的Lyapunov-Krasovskii函数,分别对恒定通信时延和时变通信时延两种不同情况下的控制器进行了设计.数值仿真结果表明,本文提出的方法能够有效地解决这类分布式姿态一致性控制问题.
In this paper, the problem of distributed attitude consistency control for multi-rigid-body systems under communication delay and joint-connected switching topologies is investigated. By constructing effective auxiliary vectors and selecting suitable Lyapunov-Krasovskii functions, Delay controller in two different situations are designed.The numerical simulation results show that the proposed method can effectively solve this kind of distributed attitude consistency control problem.