CHEN K , QI G Q , LI Y Y , et al. Target localization and standoff tracking with discrete-time bearing-only measurements [J ] . IEEE Transactions on Circuits and Systems II: Express Briefs , 2022 , 69 ( 11 ): 4448 - 4452 .

张聪 , 刘爽 , 姜思远 , 等 . 多作动器协同的特种车辆行车调平控制方法 [J ] . 兵工学报 , 2023 , 44 ( 1 ): 98 - 107 . DOI: 10.12382/bgxb.2022.0928 http://doi.org/10.12382/bgxb.2022.0928 针对国防军事、应急救援等国计民生重要领域中特种车辆行车调平的需求，基于多智能体一致性协同控制相关理论，提出多作动器协同的行车调平方法。将整车垂向模型分解为由作动器驱动的带有相互耦合特性的多智能体悬架节点，建立悬架节点动力学模型。构建基于悬架动行程的趋势引导动态基准和基准误差，摆脱现有调平方法对车身质心铅垂高的依赖，提出基于动态基准误差的多作动器协同行车调平方法。基于汽车系统仿真软件Carsim验证所提方法的有效性。研究结果表明，与整车型调平方法对比，所提方法更好地实现行车调平，调平精度提高了1到2个数量级；研究结果有助于进一步丰富和完善主动悬架控制技术体系，为解决特种车辆行车调平问题提供了全新思路和具体方法。

ZHANG C , LIU S , JIANG S Y , et al. Driving leveling control method with multi-actuator cooperation for special vehicles [J ] . Acta Armamentarii , 2023 , 44 ( 1 ): 98 - 107 . (in Chinese) DOI: 10.12382/bgxb.2022.0928 http://doi.org/10.12382/bgxb.2022.0928 To meet the requirements of special vehicle driving leveling in the important areas of the national economy and people's livelihood, such as national defense and emergency rescue, a driving leveling control method with multi-actuator cooperation is proposed based on the theory of multi-agent cooperative consistency control. Firstly, the vertical model of the whole vehicle is decomposed into coupled multi-agent suspension nodes driven by actuators, and the dynamic model of the suspension node is established. Secondly, a trend-guided dynamic reference and reference error based on the suspension working space is constructed to get rid of the dependence of the existing driving leveling control method on the vertical height of the center of mass of the vehicle body. Furthermore, the driving leveling control method with multi-actuator cooperation based on the dynamic reference error is proposed. Finally, the effectiveness of the proposed method is verified with the vehicle system simulation software CarSim. The results show that compared with the whole vehicle leveling algorithm, the proposed algorithm can better achieve driving leveling, and that the leveling accuracy is raised by 1 to 2 orders of magnitude. This study is helpful to further enrich and improve the technology system of the active suspension control system, and provide a completely new idea and specific methodology for solving the driving leveling problem of special vehicles.

李正平 , 鲜斌 . 基于虚拟结构法的分布式多无人机鲁棒编队控制 [J ] . 控制理论与应用 , 2020 , 37 ( 11 ): 2423 - 2431 .

LI Z P , XIAN B . Robust distributed formation control of multiple unmanned aerial vehicles based on virtual structure [J ] . Control Theory & Applications , 2020 , 37 ( 11 ): 2423 - 2431 . (in Chinese)

TOMMASI G D , LUI D G , PETRILLO A , et al. A L2-gain robust PID-like protocol for time-varying output formation-containment of multi-agent systems with external disturbance and communication delays [J ] . IET Control Theory and Applications , 2021 , 15 : 1169 - 1184 . DOI: 10.1049/cth2.v15.9 http://doi.org/10.1049/cth2.v15.9 https://onlinelibrary.wiley.com/toc/17518652/15/9 https://onlinelibrary.wiley.com/toc/17518652/15/9

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ZHANG J X , SU H S . Time-varying formation for linear multi-agent systems based on sampled data with multiple leaders [J ] . Neurocomputing , 2019 , 339 : 59 - 65 . DOI: 10.1016/j.neucom.2019.02.018 http://doi.org/10.1016/j.neucom.2019.02.018 https://linkinghub.elsevier.com/retrieve/pii/S0925231219302322 https://linkinghub.elsevier.com/retrieve/pii/S0925231219302322

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JU S , WANG J , DOU L Y . Enclosing control for multiagent systems with a moving target of unknown bounded velocity [J ] . IEEE Transactions on Cybernetics , 2022 , 52 ( 11 ): 11561 - 11570 . DOI: 10.1109/TCYB.2021.3072031 http://doi.org/10.1109/TCYB.2021.3072031 https://ieeexplore.ieee.org/document/9440725/ https://ieeexplore.ieee.org/document/9440725/

WANG Y , CHENG Z S , XIAO M . UAVs’ formation keeping control based on multi-agent system consensus [J ] . IEEE Access , 2020 , 8 : 49000 - 49012 . DOI: 10.1109/Access.6287639 http://doi.org/10.1109/Access.6287639 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

SHI S , XU S Y , FENG H Y . Robust fixed-time consensus tracking control of high-order multiple nonholonomic systems [J ] . IEEE Transactions on Systems, Man, and Cybernetics: Systems , 2021 , 51 ( 3 ): 1869 - 1880 .

ARYANKIA K , SELMIC R R . Neuro-adaptive formation control and target tracking for nonlinear multi-agent systems with time-delay [J ] . IEEE Control Systems Letters , 2021 , 5 ( 3 ): 791 - 796 . DOI: 10.1109/LCSYS.7782633 http://doi.org/10.1109/LCSYS.7782633 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7782633 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7782633

KARTAL Y , SUBBARAO K , GANS N R , et al. Distributed backstepping based control of multiple UAV formation flight subject to time delays [J ] . IET Control Theory and Applications , 2020 , 14 ( 12 ): 1628 - 1638 . DOI: 10.1049/cth2.v14.12 http://doi.org/10.1049/cth2.v14.12 https://onlinelibrary.wiley.com/toc/17518652/14/12 https://onlinelibrary.wiley.com/toc/17518652/14/12

NING B D , HAN Q L , LU Q . Fixed-time leader-following consensus for multiple wheeled mobile robots [J ] . IEEE Transactions on Cybernetics , 2020 , 50 ( 10 ): 4381 - 4392 . DOI: 10.1109/TCYB.2019.2955543 http://doi.org/10.1109/TCYB.2019.2955543 This article deals with the problem of leader-following consensus for multiple wheeled mobile robots. Under a directed graph, a distributed observer is proposed for each follower to estimate the leader state in a fixed time. Based on the observer and a constructed nonlinear manifold, a novel protocol is designed such that the estimated leader state is tracked in a fixed time. Moreover, a switching protocol together with a linear manifold is proposed to ensure that fixed-time leader-following consensus is realized for any initial conditions without causing singularity issues. In contrast to alternative fixed-time consensus protocols in some existing results, the protocol proposed in this article is designed by constructing the nonlinear or linear manifold, which builds a new framework for fixed-time leader-following consensus. Furthermore, the obtained upper bound of settling time is explicitly linked with a single parameter in the protocol, which facilitates the adjustment of the bound under different performance requirements. Finally, the proposed protocol is applied to formation control of wheeled mobile robots.

闵博旭 , 高剑 , 井安言 , 等 . 基于事件触发的水下滑翔机自适应容错俯仰控制 [J ] . 兵工学报 , 2023 , 44 ( 7 ): 2092 - 2100 . DOI: 10.12382/bgxb.2022.0234 http://doi.org/10.12382/bgxb.2022.0234 为确保水下滑翔机俯仰姿态控制对模型不确定性及执行器故障的鲁棒性并降低控制能耗,提出一种基于事件触发的自适应容错俯仰控制算法。在反步控制的基础上,使用动态面技术避免对虚拟控制律求导;利用基于历史输入、输出数据的径向基神经网络对模型不确定项、环境扰动和执行器故障进行逼近与补偿;设计基于相对阈值的事件触发条件,避免控制律的连续更新,从而降低控制能耗。使用Lyapunov稳定性理论证明了闭环系统的所有信号满足半全局一致最终有界。仿真实验结果表明,所设计的控制器在实现鲁棒性的前提下进一步节约了控制能耗和通信资源。

MIN B X , GAO J , JING A Y , et al. Robust event-triggered adaptive pitch attitude control for underwater gliders with actuator faults [J ] . Acta Armamentarii , 2023 , 44 ( 7 ): 2092 - 2100 . (in Chinese) DOI: 10.12382/bgxb.2022.0234 http://doi.org/10.12382/bgxb.2022.0234 To ensure robustness against model uncertainties and actuator faults while reducing control energy consumption, this paper proposes a robust adaptive fault-tolerant scheme using the event-triggered input technique for the pitch attitude control of underwater gliders. Based on the backstepping method, the dynamic surface control technique is employed to avoid calulating the derivation of the virtual control law. Model uncertainties, external disturbances, and actuator faults are compensated as a whole using a RBF-NN that takes advantage of historical input and output data. A relative-threshold event-triggered condition is designed to avoid continuous updating of the control law. Finally, the Lyapunov stability theory is used to ensure the SGUUB of the closed-loop signals. The simulation results confirm that the proposed scheme has robust control performance and can better reduce control energy consumption and communication resource occupation.

WANG Y , JIANG B , WU Z G , et al. Adaptive sliding mode fault-tolerant fuzzy tracking control with application to unmanned marine vehicles [J ] . IEEE Transactions on Systems, Man, and Cybernetics: Systems , 2020 , 51 ( 11 ): 6691 - 6700 . DOI: 10.1109/TSMC.2020.2964808 http://doi.org/10.1109/TSMC.2020.2964808 https://ieeexplore.ieee.org/document/8968746/ https://ieeexplore.ieee.org/document/8968746/

WANG Z , ZHU Y Z , XUE H , et al. Neural networks-based adaptive event-triggered consensus control for a class of multi-agent systems with communication faults [J ] . Neurocomputing , 2022 , 470 : 99 - 108 . DOI: 10.1016/j.neucom.2021.10.059 http://doi.org/10.1016/j.neucom.2021.10.059 https://linkinghub.elsevier.com/retrieve/pii/S0925231221015459 https://linkinghub.elsevier.com/retrieve/pii/S0925231221015459

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HUANG C F , ZHANG X K , ZHANG G Q . Adaptive neural finite-time formation control for multiple underactuated vessels with actuator faults [J ] . Ocean Engineering , 2021 , 222 : 108556 . DOI: 10.1016/j.oceaneng.2020.108556 http://doi.org/10.1016/j.oceaneng.2020.108556 https://linkinghub.elsevier.com/retrieve/pii/S0029801820314645 https://linkinghub.elsevier.com/retrieve/pii/S0029801820314645

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柯彦冰 , 顾凯炀 , 徐宇飞 , 等 . 故障下随机多智能体系统的混合无源/ H ∞ 容错一致性 [J ] . 控制理论与应用 , 2020 , 37 ( 10 ): 2266 - 2272 .

KE Y B , GU K Y , XU Y F , et al. Mixed passive/ H ∞ fault-tolerant consensus for stochastic multi-agent systems with failures [J ] . Control Theory & Applications , 2020 , 37 ( 10 ): 2266 - 2272 . (in Chinese)

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