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针对具有定常时延的二阶积分器多智能体系统,提出一种不依赖时延的分布式编队控制律。通过引入编队误差的积分信息,设计一种新的分布式比例积分微分控制律。和当前的编队控制律相比,分布式比例积分微分控制律具有对部分恒偏差故障鲁棒的特性。利用Nyquist稳定性判据,通过分析系统开环传递函数的幅相曲线特性,给出独立于时延的编队控制律存在的充要条件。仿真结果验证了该方法的有效性。
Aiming at the second order integrator multi-agent system with constant delay, a distributed formation control law independent of delay is proposed. By introducing integral information of formation error, a new distributed proportional-integral-derivative control law is designed. Compared with the current formation control law, the distributed proportional-integral-derivative control law has the characteristics of robustness to some constant deviations. By using the Nyquist criterion, the necessary and sufficient conditions for the formation control law independent of time delay are given by analyzing the characteristics of amplitude-phase curves of the open-loop transfer function. Simulation results verify the effectiveness of this method.