基于空间对抗的多智能体编队控制方法

doi:10.12305/j.issn.1001-506X.2024.06.26

系统工程与电子技术 ›› 2024, Vol. 46 ›› Issue (6): 2082-2091.doi: 10.12305/j.issn.1001-506X.2024.06.26

• 制导、导航与控制 • 上一篇

基于空间对抗的多智能体编队控制方法

张杰¹, 刘开蓉², 陈金宝¹, 张迎雪¹, 陈传志¹^,*, 余虹志¹, 张云啸¹

1. 南京航空航天大学航天学院, 江苏南京 211106
2. 上海航天控制技术研究所, 上海 201109

收稿日期:2023-06-10 出版日期:2024-05-25 发布日期:2024-06-04
通讯作者: 陈传志
作者简介:张杰(1997—), 女, 硕士研究生, 主要研究方向为航天器集群智能规划与协同控制
刘开蓉(1978—), 女, 高级工程师, 硕士, 主要研究方向为航天器装备研制(机电一体化)、航天物资采购供应链
陈金宝(1980—), 男, 教授, 博士, 主要研究方向为航天器装备研制(机电一体化)、航天器结构与机构设计、航天器结构动力学、航天器着陆缓冲装置设计
张迎雪(1995—), 女, 博士研究生, 主要研究方向为卫星集群控制
陈传志(1986—), 男, 副研究员, 博士, 主要研究方向为航天器结构与机构设计、空间弱撞击对接
余虹志(1999—), 男, 硕士研究生, 主要研究方向为轨道动力学、卫星集群相对运动、多智能体控制、人工势场法
张云啸(1997—), 男, 硕士研究生, 主要研究方向为航天器编队协同控制
基金资助:
国家自然科学基金(52275113);国家自然科学基金企业创新发展联合基金集成项目(U21B6002)

Multi-agents formation control method based on space confrontation

Jie ZHANG¹, Kairong LIU², Jinbao CHEN¹, Yingxue ZHANG¹, Chuanzhi CHEN¹^,*, Hongzhi YU¹, Yunxiao ZHANG¹

1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
2. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China

Received:2023-06-10 Online:2024-05-25 Published:2024-06-04
Contact: Chuanzhi CHEN

摘要/Abstract

摘要：

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 system, 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。

关键词: 多智能体系统, 空间对抗, 编队队形控制, 应力矩阵

Abstract:

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.

Key words: multi-agent system (MAS), space confrontation, formation control, stress matrix

中图分类号:

TJ761

张杰, 刘开蓉, 陈金宝, 张迎雪, 陈传志, 余虹志, 张云啸. 基于空间对抗的多智能体编队控制方法[J]. 系统工程与电子技术, 2024, 46(6): 2082-2091.

Jie ZHANG, Kairong LIU, Jinbao CHEN, Yingxue ZHANG, Chuanzhi CHEN, Hongzhi YU, Yunxiao ZHANG. Multi-agents formation control method based on space confrontation[J]. Systems Engineering and Electronics, 2024, 46(6): 2082-2091.

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基于空间对抗的多智能体编队控制方法

Multi-agents formation control method based on space confrontation

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