基于空间对抗的多智能体编队控制方法
TJ761; 针对3维空间对抗环境下,具有非线性二阶积分器动力学模型的多智能体系统(multi-agents sys-tem,MAS)时变编队机动与队形变换控制问题,提出一种可抑制外部干扰的MAS时变编队机动与队形变换策略.首先,根据空间对抗环境分析常见编队队形的效用,设计一种基于应力矩阵和领导-跟随策略的24机编队立体构型,通过灵活地仿射变换队形,提高MAS编队空间对抗效率.其次,基于一致性理论、滑模理论和鲁棒性控制,利用时变编队应力矩阵,设计了 一种鲁棒一致性跟踪控制器,以在外部未知扰动条件下,确保MAS时变编队在机动与仿射变换时跟随者对领导者的精确协同跟踪.然后,通过构造Lyapunov...
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| Published in | 系统工程与电子技术 Vol. 46; no. 6; pp. 2082 - 2091 |
|---|---|
| Main Authors | , , , , , , |
| Format | Journal Article |
| Language | Chinese |
| Published |
南京航空航天大学航天学院,江苏南京 211106%上海航天控制技术研究所,上海 201109
01.06.2024
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1001-506X |
| DOI | 10.12305/j.issn.1001-506X.2024.06.26 |
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| Abstract | TJ761; 针对3维空间对抗环境下,具有非线性二阶积分器动力学模型的多智能体系统(multi-agents sys-tem,MAS)时变编队机动与队形变换控制问题,提出一种可抑制外部干扰的MAS时变编队机动与队形变换策略.首先,根据空间对抗环境分析常见编队队形的效用,设计一种基于应力矩阵和领导-跟随策略的24机编队立体构型,通过灵活地仿射变换队形,提高MAS编队空间对抗效率.其次,基于一致性理论、滑模理论和鲁棒性控制,利用时变编队应力矩阵,设计了 一种鲁棒一致性跟踪控制器,以在外部未知扰动条件下,确保MAS时变编队在机动与仿射变换时跟随者对领导者的精确协同跟踪.然后,通过构造Lyapunov函数证明了外界未知扰动下3维MAS时变编队连续机动和队形变换的稳定性.最后,通过仿真实验验证了所提出的控制器能够使时变编队在机动和队形变换过程中实现精确协同跟踪. |
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| AbstractList | TJ761; 针对3维空间对抗环境下,具有非线性二阶积分器动力学模型的多智能体系统(multi-agents sys-tem,MAS)时变编队机动与队形变换控制问题,提出一种可抑制外部干扰的MAS时变编队机动与队形变换策略.首先,根据空间对抗环境分析常见编队队形的效用,设计一种基于应力矩阵和领导-跟随策略的24机编队立体构型,通过灵活地仿射变换队形,提高MAS编队空间对抗效率.其次,基于一致性理论、滑模理论和鲁棒性控制,利用时变编队应力矩阵,设计了 一种鲁棒一致性跟踪控制器,以在外部未知扰动条件下,确保MAS时变编队在机动与仿射变换时跟随者对领导者的精确协同跟踪.然后,通过构造Lyapunov函数证明了外界未知扰动下3维MAS时变编队连续机动和队形变换的稳定性.最后,通过仿真实验验证了所提出的控制器能够使时变编队在机动和队形变换过程中实现精确协同跟踪. |
| Abstract_FL | Aiming at the problem of time-varying formation maneuvering and affine transformation control for multi-agents system(MAS)with nonlinear second-order integrator dynamics model in three-dimensional(3D)space confrontation environment,a strategy for MAS time-varying formation maneuvering and formation transformation is proposed,which is designed to suppress external disturbances.Firstly,by analyzing the utility of common formations in spatial adversarial environments,a 24-agents spatial configuration is devised based on stress matrix and leader-follower strategy.Through flexible affine transformation formations,this configuration can adapt to other formations,thereby enhancing the spatial resilience efficiency of MAS formations in adversarial environments.Secondly,leveraging consistency theory,sliding mode theory and robust control,a distributed robust consistency tracking controller is designed using the time-varying formation stress matrix.This controller is designed to address scenarios where MAS time-varying formations are subject to external unknown disturbances,ensuring precise coordinated tracking of the leader during affine transformation and continuous maneuvering.Thirdly,the stability of 3D MAS time-varying formation continuous maneuvering and affine transformation in the presence of external unknown disturbances is proven by constructing a Lyapunov function.Finally,simulation experiments demonstrate that the proposed controller can achieve precise coordinated tracking during maneuvering and formation transformation for time-varying formations. |
| Author | 刘开蓉 陈传志 陈金宝 张云啸 张杰 张迎雪 余虹志 |
| AuthorAffiliation | 南京航空航天大学航天学院,江苏南京 211106%上海航天控制技术研究所,上海 201109 |
| AuthorAffiliation_xml | – name: 南京航空航天大学航天学院,江苏南京 211106%上海航天控制技术研究所,上海 201109 |
| Author_FL | ZHANG Yingxue YU Hongzhi ZHANG Jie LIU Kairong CHEN Jinbao CHEN Chuanzhi ZHANG Yunxiao |
| Author_FL_xml | – sequence: 1 fullname: ZHANG Jie – sequence: 2 fullname: LIU Kairong – sequence: 3 fullname: CHEN Jinbao – sequence: 4 fullname: ZHANG Yingxue – sequence: 5 fullname: CHEN Chuanzhi – sequence: 6 fullname: YU Hongzhi – sequence: 7 fullname: ZHANG Yunxiao |
| Author_xml | – sequence: 1 fullname: 张杰 – sequence: 2 fullname: 刘开蓉 – sequence: 3 fullname: 陈金宝 – sequence: 4 fullname: 张迎雪 – sequence: 5 fullname: 陈传志 – sequence: 6 fullname: 余虹志 – sequence: 7 fullname: 张云啸 |
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| DOI | 10.12305/j.issn.1001-506X.2024.06.26 |
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| DocumentTitle_FL | Multi-agents formation control method based on space confrontation |
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| Keywords | 应力矩阵 multi-agent system(MAS) 空间对抗 多智能体系统 编队队形控制 space confrontation stress matrix formation control |
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| Publisher | 南京航空航天大学航天学院,江苏南京 211106%上海航天控制技术研究所,上海 201109 |
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