Trajectory Synchronization Tracking Protocol Based On Neighbor Control Information Under Input Constrained Conditions

Multi-agents synchronization trajectory tracking is a form of motion or physical state of two or more than two objects in which the position and velocity of every object can track a given ideal trajectory.The main purpose of the cooperative application among the multi-agents is to accomplish some complex tasks.The multi-agents tracking control algorithm is the basis of multi-agents cooperative control.Multi-agents control algorithm indicates some rules of the multi-agents which conveys information or intelligence information received by leaders,describe the process between the single agent and leader or exchange message between agents.However,in the design and study the multi-agents synchronization trajectory tracking protocol,there is less in consideration of the delay of the input information of the neighbor agents.In this paper,we study the multi-agent synchronization trajectory tracking control protocol with input constraints and input delay from the neighbor control information.First,by summarizing and analyzing the existing conclusions,combining the multi-agents system application and the background of the input limit and the time-delay of neighbor input information,this paper redesigns the control law.Moreover,the design method of control law are given.By comparing the stability of the first order system under the two algorithms design in this paper,the stability of the system and the convergence rate of the tracking error near the equilibrium point are givens.Then,the stability of the first order system under the control law is verified by simulation.Then,on the basis of the design of the first-order system control law,the control laws of the second-order system are designed,the convergence of the second-order system near the equilibrium point which under the designed control law and the convergence rate of the position error which near the equilibrium point are analyzed.The stability of the system is verified by simulation and experiments.Finally,for the first and second order multi-agents system,the disturbance estimation device is applied,it can eliminate or weaken the influence of external disturbance.The simulation and experimental verification are carried out in this paper.Aiming at the second-order multi-agents system,the designed trajectory synchronization tracking control law is applied to the three 3 degree of freedom(3-DOF)helicopters.This will further verify the correctness of the theoretical results from the experimental point of view.