分布式异构集群系统PI编队跟踪控制.

The homogeneous swarm system is limited in function because of its single component. The individual composition of the heterogeneous cluster system is diverse， so the functions of the homogeneous cluster system can be extended. In view of the problem of formation tracking control in heterogeneous swarm system， based on leader-follower model， a distributed PI formation tracking control protocol is designed under the directed communication topology. The expected time-varying formation is designed， and the followers keep the expected formation while tracking the leader， so that all the agents in the system can reach the expected position. Considering that the real system is often affected by the external unknown disturbance and some uncertain factors， based on the Lyapunov stability theory， some sufficient conditions are given to ensure the tracking error of the system to be uniformly bounded， and the robustness analysis is carried out. The simulation verification is carried out according to the designed control protocol and control conditions. The results show that the designed PI formation tracking control strategy can effectively solve the formation tracking control problem of heterogeneous cluster systems. [ABSTRACT FROM AUTHOR]