摘要
为了系统地讨论存在时延的编队控制系统的稳定性问题,给出了编队稳定性的2种形式化定义;结合个体动力学模型,概括了利用线性反馈控制和非线性反馈控制的含时延的编队策略以及相应的系统模型;针对各种编队控制策略、具体的任务要求和不同的时延情况,对主要的稳定性分析方法进行了综述,包括特征根分析方法、Lyapunov稳定性理论方法和Hamilton耗散理论方法等,并介绍了用各种稳定性分析方法得到的结论;最后,总结了各种编队稳定性分析方法的优缺点以及未来研究的趋势.
To research the stability of a formation control system with time delays systematically,two types of formalized descriptions of formation stability were presented.From the individual dynamic models,formation control strategies with time delays based on linear or non-linear feedback control and their corresponding mathematical models were reviewed.For different formation control strategies,specified formation missions and different time-delay cases,the main stability analysis methods for formation control systems were investigated,including the eigenvalue analysis method,the Lyapunov stability theory method,the Hamilton dissipation theory method and so on.Furthermore,the conclusions obtained by researchers using the above analysis methods were introduced.The advantages and disadvantages of these analysis methods for formation control with time delays were summarized,and the research tendency was described in the end.
出处
《西南交通大学学报》
EI
CSCD
北大核心
2011年第5期770-778,共9页
Journal of Southwest Jiaotong University
基金
国家自然科学基金资助项目(60975071)
关键词
编队稳定性
稳定性分析
编队控制
时延
formation stability
stability analysis
formation control
time delay
