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

Abstract

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

CLC Number:

V249

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.

Figures/Tables 7

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

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