کنترل آرایش متغیر بازمان سیستم‌های چندعاملی پرنده بدون‌سرنشین با ورودی رهبر نامعلوم

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 گروه مهندسی برق-کنترل، دانشکده فنی و مهندسی، دانشگاه بین الملل امام خمینی (ره)

2 گروه مهندسی برق-کنترل، دانشکده فنی و مهندسی، دانشگاه بین المللی امام خمینی (ره)، قزوین، ایران

3 دانشکده مهندسی برق دانشگاه صنعتی شریف

چکیده

کنترل آرایش متغیر با زمان سیستم چندعاملی برای اجسام پرنده بدون سرنشین در ساختار رهبر- پیرو در این مقاله مورد مطالعه قرارگرفته است. فرض بر این است که تعداد عوامل در حین حرکت تغییر می‌‌کند. با تغییر تعداد عوامل، آرایش مطلوب نیز، به‌صورت چندضلعی‌های منتظم با اضلاع ثابت به‌گونه‫ای تغییر می‫‫یابد که فاصله نسبی پیروهای همسایه از یکدیگر ثابت نگه ‌داشته ‌‌شود. یک کنترل‌کننده دو حلقه‌‌ای ارائه ‌شده است که در آن، حلقه داخلی با استفاده از قانون کنترل خطی‌ساز بازخورد، دینامیک عوامل را خطی می‌‌کند. حلقه بیرونی نیز، یک کنترل کننده بازخورد حالت انتگرالی است که از بردار موقعیت نسبی و سرعت نسبی همسایگان برای حفظ آرایش در اجماع بهره می‌‌برد. پیروها از مسیر رهبر اطلاعی ندارند و فقط با حفظ فاصله نسبی نسبت به همسایگان خود آرایش را حفظ و رهبر را دنبال می‌‌کنند. ضرایب کنترلی به‌صورت غیر برخط و با حل معادله جبری ریکاتی و بر اساس قضیه گراف تعیین می‌‌شود و لذا نیازی به تنظیم برخط ضرایب نیست. پایداری سیستم حلقه بسته تحت قانون کنترل پیشنهادی از طریق قضیه پایداری لیاپانوف بررسی‌ شده و شبیه‌سازی‌های مختلفی برای نشان دادن توانایی کنترل‌کننده پیشنهادی انجام ‌شده است.

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