论文标题
在对能量和时间的严格限制下，分布式形成控制是可行的吗？
When Distributed Formation Control Is Feasible under Hard Constraints on Energy and Time?
论文作者
论文摘要
本文研究了对能量水平和终止时间的严格限制分配的最佳形成控制，其中应与能量成本共同将形成误差最小化。主要贡献包括全球最佳的分布形成控制法和对这些硬约束下所得的闭环系统的全面分析。据透露，能量水平，任务终止时间，稳态误差容忍度以及网络拓扑在实现编队控制任务时施加了固有的局限性。最值得注意的是，可实现的终止时间和所需的最小能级的下限是根据初始地层误差，稳态误差容忍度和Laplacian矩阵的最大特征值给出的。这些下限可以用来断言能源和时间约束的形成任务是否可以完成以及如何完成此类任务。此外，揭示了与控制参数相关的这些下限的单调性。最终给出了一个模拟示例，以说明获得的结果。
This paper studies distributed optimal formation control with hard constraints on energy levels and termination time, in which the formation error is to be minimized jointly with the energy cost. The main contributions include a globally optimal distributed formation control law and a comprehensive analysis of the resulting closed-loop system under those hard constraints. It is revealed that the energy levels, the task termination time, the steady-state error tolerance, as well as the network topology impose inherent limitations in achieving the formation control mission. Most notably, the lower bounds on the achievable termination time and the required minimum energy levels are derived, which are given in terms of the initial formation error, the steady-state error tolerance, and the largest eigenvalue of the Laplacian matrix. These lower bounds can be employed to assert whether an energy and time constrained formation task is achievable and how to accomplish such a task. Furthermore, the monotonicity of those lower bounds in relation to the control parameters is revealed. A simulation example is finally given to illustrate the obtained results.
