A Guaranteed Capacity Formation Control Method with Communication Fault Tolerance

Abstract

The invention discloses a guaranteed cost formation control method with a communication fault-tolerance function. The method includes the following steps of: 1, system parameter setting; 2, formationvector setting; 3, formation feasibility judgment; 4, positive definite matrix P solving; 5, gain matrix Ku solving; 6, guaranteed cost value solving; and step 7, guaranteed cost formation effect verification. According to the step 1, the values of a system matrix A and a system matrix B and the value of a performance function gain matrix Q are set. According to the step 3, a matrix Kh that satisfies an equation described in the descriptions of the invention is solved, if Kh that satisfies the equation exists, the step 4 is further executed, otherwise, a system (1) cannot realize a formation determined by h(t) under the action of a protocol (2), and the method returns to the step 1, system parameter setting and formation vector setting are performed again. According to the step 4, as for the given Q, a positive definite matrix P that simultaneously satisfies an inequality P(A+BKh)+(A+BKh)TP<=0 and -lambdaminPBBTP+lambdamaxQ<0 is solved. According to the step 5, P is substituted into Ku=BTP, a gain matrix Ku is solved. According to the step 6, a guaranteed cost value is solved according to the expression of J<*>r, and formation control protocol related parameter design is finished.According to the step 7, the solved Kh and Ku are substituted into the system, a formation effect and a guaranteed cost effect are verified.

Description

technical field [0001] The invention belongs to the field of optimal formation control of multi-agent systems, and in particular relates to an energy-guaranteed formation control method with a communication fault-tolerant function. Background technique [0002] When multi-agents perform formation tasks, the communication between each agent is the key factor to complete the formation tasks. Due to the failure of the agent itself or the interference in the task environment, the formation may have communication failures. In this case, the structure of the action topology will change, that is, the action topology may be switched. At present, in the research on the formation algorithm under the condition of switching topology, only the general switching topology is considered, that is, all the active topologies in the switching topology set are connected. In fact, this condition is very harsh, that is, under the condition of communication failure, it is very It is difficult to g...

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Problems solved by technology

At present, in the research on the formation algorithm under the condition of switching topology, only the general switching topology is considered, that is, all the active topologies in the switching topology set are connected. In fact, this condition is very harsh, that is, under the condition of communication failure, it is very It is difficult to guarantee the connectivity of each active topology in the switched topology set

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