Navigation System With Time Delay Collaborative Controller Design And Stability Analysis

Due to wide practical value, multi-agent systems has received significant attention from many researchers of a broad range of disciplines including control science and engineering, computer science, biology, physics and so on. As the most important branch in control community, consensus control has become a hot topic.In the real systems, the effect of delays should be inevitable. Leader-following consensus with delay is mainly investigated in this thesis, the main result are divided into the following two parts.1. On the general consensus algorithms of leader-following system with double-integrator dynamics and delays.In this part, we consider leader-following consensus with different delays, which is also called distributed coordinated tracking. We discuss two different cases under whether the de-lays are time-varying or not. When the delays are time-varying, based on the characteristic of leader-following systems, we introduce a nonsingular transformation to divide the sys-tems into two subsystems. Then, we develop two different Lyapunov-Krasovskii functional according to their characteristic. We present some conditions to reach consensus. When the delays are constant, communication and input delays are considered, while we revise the consensus algorithms. In the light of LMI tool box, we obtain sufficient condition.The simulation example is finally given to illustrate the effectiveness of the result.2.Distributed coordinated tracking with a leader under limited communicationWe consider distributed tracking for single-integrator dynamics including continuous systems and discrete systems. Two cases between the leader and the nearest follower are investigated. One case is when there is no delay between the leader and the nearest fol-lower. We found that the realization of consensus is independent of communication delays. The other case is when there exist delay between the leader and the nearest follower. We introduce H∞consensus tracking concept. At the same time, we present the condition to ensure the systems to reach consensus while satisfying H∞performance. We also study the discretization of continuous system, and combined with the relationship between the structure of communication topology and Laplacian matrix, we obtain the result of tracking error is ultimately bounded.For illustration of the theoretical result, we also provide several simulation example.