蜂群对抗决策故障下的容错博弈控制

doi:10.7527/S1000-6893.2020.24978

电子电气工程与控制

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蜂群对抗决策故障下的容错博弈控制

倪媛, 杨浩, 姜斌

南京航空航天大学自动化学院, 南京 210016

收稿日期:2020-11-17 修回日期:2020-12-07 发布日期:2020-12-25
通讯作者: 杨浩 E-mail:haoyang@nuaa.edu.cn
基金资助:
国家自然科学基金（61773201，62073165）；中央高校基本科研业务费（NZ2020003）

Fault tolerant game control of swarm confrontation with decision faults

NI Yuan, YANG Hao, JIANG Bin

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received:2020-11-17 Revised:2020-12-07 Published:2020-12-25
Supported by:
National Natural Science Foundation of China (61773201, 62073165); The Fundamental Research Funds for the Central Universities (NZ2020003)

摘要/Abstract

摘要： 针对大规模分簇蜂群无人机的任务分配问题，考虑对抗场景下某些无人机由于受到敌方攻击或操控，决策规则遭到篡改，进而导致群决策行为与期望的均衡点产生偏差的决策故障。在演化矩阵博弈的框架下，运用多群体复制子动态方程对蜂群无人机和故障建模，基于李雅普诺夫函数对故障发生前后均衡点的局部渐近稳定性及其吸引域进行了分析，从而建立了自容错条件，并设计了基于激励的簇间协同容错博弈控制方法，对群决策行为偏差进行补偿，使得蜂群任务分配状态在故障下仍能达到期望的均衡点，获得理想的分工收益。

关键词: 蜂群无人机, 决策故障, 容错博弈控制, 演化矩阵博弈, 任务分配

Abstract: Some UAVs of the swarm are attacked or manipulated by the enemy in the confrontation scenario, and their decision-making rules are tampered to lead to a deviation between the swarm behaviors and the expected equilibrium. In the framework of the evolutionary matrix game, the equations for the multi- population replicator dynamics are used to model the UAV swarm and faults. Based on the Lyapunov functional approach, the local asymptotic stability of the equilibrium point as well as its domain of attraction is analyzed in both healthy and faulty cases. A self fault-tolerant condition is established. Moreover, an incentive based cooperative fault tolerant game control method between clusters is proposed to compensate for the deviation of swarm behaviors. With the method, the task allocation state of the UAV swarm can still reach the desired equilibrium point when there are faults, and the ideal payoff of the division of labor can be obtained.

Key words: UAV swarm, decision fault, fault tolerant game control, evolutionary matrix game, task allocation

中图分类号:

V219

倪媛, 杨浩, 姜斌. 蜂群对抗决策故障下的容错博弈控制[J]. 航空学报, 2021, 42(4): 524978-524978.

NI Yuan, YANG Hao, JIANG Bin. Fault tolerant game control of swarm confrontation with decision faults[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(4): 524978-524978.

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蜂群对抗决策故障下的容错博弈控制

Fault tolerant game control of swarm confrontation with decision faults

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