A Distributed Reference Governor for High-Order LTI Swarm Systems
A Distributed Reference Governor for High-Order LTI Swarm Systems
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DOI：
10.23919/acc.2018.8430863
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
T. Nguyen;S. Nakano;T. Hatanaka;E. Garone;M. Fujita
中科院分区：
文献类型：
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作者：
T. Nguyen;S. Nakano;T. Hatanaka;E. Garone;M. Fujita
研究了高阶线性时不变群系统的约束控制问题。特别是，该系统是第一次局部预稳定使用比例积分控制律和控制系统的稳定性证明使用群体稳定性参数。然后，我们表明，在一定的条件下，预稳定系统地承认一个候选的李雅普诺夫函数和相关的上限函数，这是有关的约束。然后，我们提出了一个基于集合不变性的分布式参考总督（RG）修改的参考，使代理的轨迹不违反在每个时刻的约束。此外，我们表明，建议RG计划的性能可以提高使用相位超前补偿器。数值算例验证了该方法的有效性。
This paper focuses on the constrained control of high-order linear-time invariant (LTI) swarm systems. In particular, the system is first locally pre-stabilized using a proportional-integral control law and the stability property of the controlled system is proved using swarm stability arguments. Then, we show that, under certain conditions, the pre-stabilized system systematically admits a candidate Lyapunov function and an associate upper-bound function which is related to the constraints. Then, we propose a set invariance-based distributed Reference Governor (RG) to modify the reference such that the trajectories of the agents do not violate the constraints at each time instant. Furthermore, we show that the performance of the proposed RG scheme can be improved using a phase-lead compensator. Numerical examples are provided to demonstrate the effectiveness of the proposed method.