切换拓扑下异构无人集群编队-合围跟踪控制

doi:10.7527/S1000-6893.2021.26504

电子电气工程与控制

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切换拓扑下异构无人集群编队-合围跟踪控制

魏志强¹, 翁哲鸣², 化永朝³(), 董希旺³^,⁴, 任章⁴

^1.复旦大学工程与应用技术研究院，上海 200433
^2.航天三院创新研究院，北京 100074
^3.北京航空航天大学人工智能研究院，北京 100191
^4.北京航空航天大学自动化科学与电气工程学院，北京 100191

收稿日期:2021-10-11 修回日期:2021-10-24 接受日期:2021-11-26 出版日期:2023-01-25 发布日期:2021-12-09
通讯作者: 化永朝 E-mail:yongzhaohua@buaa.edu.cn
基金资助:
国家自然科学基金(62103023);青年人才托举工程(2021QNRC001)

Formation-containment tracking control for heterogeneous unmanned swarm systems with switching topologies

Zhiqiang WEI¹, Zheming WENG², Yongzhao HUA³(), Xiwang DONG³^,⁴, Zhang REN⁴

^1.Academy for Engineering and Technology，Fudan University，Shanghai 200433，China
^2.Innovation & Research Institute of HIWING Technology Academy，Beijing 100074，China
^3.Institute of Artificial Intelligence，Beihang University，Beijing 100191，China
^4.School of Automation Science and Electrical Engineering，Beihang University，Beijing 100191，China

Received:2021-10-11 Revised:2021-10-24 Accepted:2021-11-26 Online:2023-01-25 Published:2021-12-09
Contact: Yongzhao HUA E-mail:yongzhaohua@buaa.edu.cn
Supported by:
National Natural Science Foundation of China(62103023);Young Elite Scientists Sposorship Program by CAST(2021QNRC001)

摘要/Abstract

摘要：

针对异构无人集群存在层内不同协同控制目标以及层间协同耦合的控制问题，提出了“编队-合围跟踪”控制的定义与框架，采用具有时变输入的跟踪-领导者来生成集群系统的整体参考轨迹，克服了现有编队-合围控制中无法有效控制集群整体宏观运动的缺陷。对于存在切换拓扑的高阶异构集群系统，基于分布式鲁棒自适应估计技术以及预先定义的合围控制策略，利用邻居局部信息交互构造了分布式编队-合围跟踪控制器，给出了分层耦合情况下控制器的多步设计方法。采用共同李雅普诺夫稳定性理论，证明了切换拓扑条件下异构集群实现输出编队-合围跟踪的充分条件。通过无人机-无人车异构集群的仿真例子，验证了所提出的编队-合围跟踪控制方法的有效性。

关键词: 异构集群, 编队控制, 合围控制, 跟踪控制, 分布式控制, 切换拓扑

Abstract:

For the high-order heterogeneous swarm systems with different intra-layer cooperative control objectives and inter-layer coordination couplings， a definition and the framework for formation-containment tracking control of the swarm systems are proposed. A tracking-leader with time-varying input is applied to generate the macroscopic reference trajectory for the whole swarm systems， overcoming the shortcoming of existing formation-containment control approaches， i.e.， they cannot be used to get an effective control of the macroscopic movement of the whole system. Considering the influences of switching topologies， a distributed formation-containment tracking protocol and a multi-step design algorithm are proposed based on the robust adaptive estimation approach and the predefined containment control strategy. With inter-layer coordination couplings， sufficient conditions for achieving formation-containment tracking by the heterogeneous swarm systems with switching typologies are given using the common Lyapunov stability theory. A simulation example for a group of unmanned aerial vehicles and unmanned ground vehicles is given to verify the effectiveness of the proposed controller.

Key words: heterogeneous swarm systems, formation control, containment control, tracking control, distributed control, switching topology

中图分类号:

V249

魏志强, 翁哲鸣, 化永朝, 董希旺, 任章. 切换拓扑下异构无人集群编队-合围跟踪控制[J]. 航空学报, 2023, 44(2): 326504-326504.

Zhiqiang WEI, Zheming WENG, Yongzhao HUA, Xiwang DONG, Zhang REN. Formation-containment tracking control for heterogeneous unmanned swarm systems with switching topologies[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(2): 326504-326504.

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E-mail：hkxb@buaa.edu.cn

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切换拓扑下异构无人集群编队-合围跟踪控制

Formation-containment tracking control for heterogeneous unmanned swarm systems with switching topologies

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