异构多智能体系统分组输出时变编队跟踪控制

doi:10.7527/S1000-6893.2019.23727

电子电气工程与控制

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异构多智能体系统分组输出时变编队跟踪控制

田磊^1,2, 赵启伦³, 董希旺^1,2,4, 李清东^1,2, 任章^1,2,4

1. 北京航空航天大学自动化科学与电气工程学院, 北京 100083;
2. 北京航空航天大学飞行器控制一体化技术国防科技重点实验室, 北京 100083;
3. 北京电子工程总体研究所, 北京 100854;
4. 北京航空航天大学大数据科学与脑机智能高精尖创新中心, 北京 100083

收稿日期:2019-10-13 修回日期:2019-11-20 出版日期:2020-07-15 发布日期:2019-12-26
通讯作者: 董希旺 E-mail:xwdong@buaa.edu.cn
基金资助:
国家自然科学基金（61922008，61973013，61873011，61803014）；航空科学基金（20170151001）；国防创新特区项目（18-163-00-TS-001-001-34）；北京市自然科学基金（4182035）

Time-varying output group formation tracking for heterogeneous multi-agent systems

TIAN Lei^1,2, ZHAO Qilun³, DONG Xiwang^1,2,4, LI Qingdong^1,2, REN Zhang^1,2,4

1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China;
2. Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100083, China;
3. Beijing Institute of Electronic System Engineering, Beijing 100854, China;
4. Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing 100083, China

Received:2019-10-13 Revised:2019-11-20 Online:2020-07-15 Published:2019-12-26
Supported by:
National Natural Science Foundation of China (61922008,61973013,61873011,61803014); Aeronautical Science Foundation of China (20170151001); National Defense Innovation Zone Project (18-163-00-TS-001-001-34); Beijing Natural Science Foundation (4182035)

摘要/Abstract

摘要： 空地协同控制是前沿的热点研究之一，以无人机、无人车为代表的空地智能体动力学模型的差异为研究带来了挑战。研究了高阶异构多智能体系统在有向拓扑条件下的分组输出时变编队跟踪控制问题，提出了虚拟领导者、分组领导者以及跟随者组成的三层协同控制架构。虚拟领导者用于规划整个多智能体系统的状态轨迹，分组领导者跟踪虚拟领导者所提供的轨迹信息，并相互协作以实现分组间的协同配合。跟随者跟踪分组领导者的输出并实现期望的输出编队。在有向通信拓扑结构条件下，基于局部邻居间的相对信息、观测器理论和滑模控制理论构造了控制协议，利用Lyapunov稳定性理论证明协议的有效性。数值仿真结果表明提出的方法能够实现无人机、无人车等异构智能体的空地协同，具有较好的工程应用价值。

关键词: 空地协同控制, 高阶异构多智能体系统, 分组输出时变编队跟踪, 滑模控制, 观测器理论

Abstract: Air ground cooperative control is one of the hottest researches, and the differences between air ground agents' dynamic models represented by Quadrotor UAVs and unmanned vehicles bring great challenges. This paper investigates time-varying output group formation tracking control problems for heterogeneous high-order multi-agent systems with directed topologies. Agents in the structure of heterogeneous multi-agent systems' models given by this paper are classified into three types, including the virtual leader, the group leader, and the follower. The virtual leader can be used to control the trajectory of states associated with the whole heterogeneous multi-agent systems. Group leaders track the trajectory determined by the virtual leader and achieve the coordination among subgroups by communicating with each other. Followers track the states of group leaders and form the desired formation. Under the condition of directed topologies, based on neighboring information, observer theory and sliding mode control theory, a control protocol is constructed. Then the stability of heterogeneous multi-agent systems under the protocol is proven by using Lyapunov theory. Numerical simulations indicated that the approaches presented by this paper can be applied to the physical models represented by Quadrotor UAVs and Unmanned vehicles and have significant project application value.

Key words: air ground cooperative control, heterogeneous high-order multi-agent systems, time-varying output group formation tracking, sliding mode control, observer theory

中图分类号:

V249

田磊, 赵启伦, 董希旺, 李清东, 任章. 异构多智能体系统分组输出时变编队跟踪控制[J]. 航空学报, 2020, 41(7): 323727-323727.

TIAN Lei, ZHAO Qilun, DONG Xiwang, LI Qingdong, REN Zhang. Time-varying output group formation tracking for heterogeneous multi-agent systems[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(7): 323727-323727.

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异构多智能体系统分组输出时变编队跟踪控制

Time-varying output group formation tracking for heterogeneous multi-agent systems

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