Robust distributed average tracking control method applied to cluster intelligent systems

Abstract

The invention discloses a robust distributed average tracking control method applied to cluster intelligent systems. The method comprises the following steps of S1, establishing a mathematic model ofa cluster intelligent system; S2, designing a mathematic model of a control capable of realizing the control for the cluster intelligent system; S3, carrying out stability analysis on the controller,if the control for the system is instable, returning to the step S2, and if the control for the system is stable, continuing to execute the next step; S4, designing parameters for the mathematic modelof the controller; and S5, substituting the controller parameters obtained in the step S4 into the mathematic model of the controller so as to complete the design. Under any initial conditions, the method is capable of tracking the average value of a plurality of nonlinear reference signals, so that the dynamic characteristics of the cluster intelligent system and the reference signals are greatly expanded; the dynamics of the cluster intelligent system and the reference signals are expanded from second order to common high-order nonlinear systems; and by utilizing robust control, the requirements for the initial information are removed, so that the method is more suitable for the field of engineering and is good in practicability.

Description

technical field [0001] The invention belongs to the technical field of control system algorithms, and in particular relates to a robust distributed average tracking control method applied to a cluster intelligent system. Background technique [0002] The distributed average tracking control problem of nonlinear swarm intelligent system is to track the average value of multiple reference signals by designing an average tracking control algorithm for local mutual communication. Distributed average tracking control of swarm intelligent systems has been extensively studied due to its wide application in the fields of swarm unmanned aerial vehicle (UAV) encirclement formation and swarm missile cooperative guidance. [0003] In the past few years, swarm intelligence systems based on the distributed average tracking control algorithm have attracted extensive attention due to their potential application prospects. As an estimator, the distributed average tracking control algorithm ...

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Problems solved by technology

[0006] However, most of the currently existing algorithms can only be used to solve the distributed average tracking control problem of low-order or high-order linear swarm intelligent systems, and are not robust to system initialization. High-order nonlinear clusters that are more common in engineering problem processing For intelligent systems, there is no corresponding robust distributed average tracking control algorithm to solve its control problems

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