异构无人集群分组编队自适应跟踪-合围控制

doi:10.12305/j.issn.1001-506X.2023.10.32

摘要/Abstract

摘要：

针对异构无人集群在目标机动形式未知情形下的分组跟踪-合围控制问题, 基于输出调节策略提出一种分布式分层协同控制框架。系统中各类智能体的模型均为异构的, 领导者以期望输出队形跟踪目标输出的同时, 驱动跟随者的输出收敛至多领导者的凸包内部。基于观测器理论、一致性理论和自适应控制理论, 设计了含时变耦合权值的分布式跟踪-合围控制协议, 克服了控制输入对全局信息的依赖, 并实现对目标未知控制输入的有效抑制。进一步分析得到期望输出编队的可行性条件, 并利用Lyapunov理论证明了闭环系统的稳定性。最后, 通过仿真实例验证了提出的控制策略能够实现无人机-无人车异构分组编队对目标的跟踪-合围。

关键词: 异构无人集群, 分组编队, 跟踪-合围控制, 自适应控制, 观测器理论

Abstract:

In view of the group tracking-containment control problem of heterogeneous unmanned swarm with unknown targets maneuver, a distributed hierarchical cooperative control framework is proposed based on output regulation strategy. All kinds of agents in the system adopt heterogeneous model. While the leaders track the target output in the expected output formation, the output of the followers are driven to converge to the convex hull of the leaders. Based on observer theory, consensus theory, and adaptive control theory, a distributed tracking containment control protocol with time-varying coupling weights is designed, which overcomes the dependence of control input on global information and realizes the effective suppression of unknown control input of targets. The feasibility conditions of the desired output formation are further analyzed, and the stability of the closed-loop system is proven by Lyapunov theory. Finally, simulation example verifies that the proposed control strategy can realize the target tracking-containment of unmanned aerial vehicle-unmanned ground vehicle heterogeneous group formation.

Key words: heterogeneous unmanned swarm, group formation, tracking-containment control, adaptive control, observer theory

中图分类号:

张毅, 于浩, 杨秀霞, 姜子劼. 异构无人集群分组编队自适应跟踪-合围控制[J]. 系统工程与电子技术, 2023, 45(10): 3274-3285.

Yi ZHANG, Hao YU, Xiuxia YANG, Zijie JIANG. Adaptive group formation tracking-containment control for heterogeneous unmanned swarm[J]. Systems Engineering and Electronics, 2023, 45(10): 3274-3285.

图/表 8

图1

图2

图3

图4

图5

图6

图7

图8

参考文献 25

1	ALI Z A , HAN Z . Multi-unmanned aerial vehicle swarm formation control using hybrid strategy[J]. Transactions of the Institute of Measurement and Control, 2021, 43 (12): 2689- 2701. doi: 10.1177/01423312211003807
2	SASKA M , HERT D , BACA T , et al. Formation control of unmanned micro aerial vehicles for straitened environments[J]. Autonomous Robots, 2020, 44 (20): 991- 1008.
3	杨明月, 寿莹鑫, 唐勇, 等. 多四旋翼无人机编队保持与避碰控制[J]. 航空学报, 2022, 43 (S1): 89- 99.
	YANG M Y , SHOU Y X , TANG Y , et al. Multi-quadrotor UAVs formation maintaining and collision avoidance control[J]. Acta Aeronautica et Astronautica Sinica, 2022, 43 (S1): 89- 99.
4	韩涛. 多智能体系统的编队与包含控制问题研究[D]. 武汉: 华中科技大学, 2017.
	HAN T. Research on formation and containment control problems of multi-agent systems[D]. Wuhan: Huazhong University of Science and Technology, 2017.
5	LIAO R , HAN L , DONG X W , et al. Finite-time formation-containment tracking for second-order multi-agent systems with a virtual leader of fully unknown input[J]. Neurocomputing, 2020, 415 (6): 234- 246.
6	CAI Y L , ZHANG H G , WANG Y C , et al. Adaptive bipartite fixed-time time-varying output formation-containment tracking of heterogeneous linear multiagent systems[J]. IEEE Trans.on Neural Networks and Learning Systems, 2021, 33 (9): 4688- 4698.
7	LU M B , LU L . Distributed feedforward approach to cooperative output regulation subject to communication delays and switching networks[J]. IEEE Trans.on Automatic Control, 2017, 62 (4): 1999- 2005. doi: 10.1109/TAC.2016.2594151
8	CAI H , LEWIS F L , HU G Q , et al. The adaptive distributed observer approach to the cooperative output regulation of linear multiagent systems[J]. Automatica, 2017, 75, 299- 305. doi: 10.1016/j.automatica.2016.09.038
9	ADIB Y F , LEWIS F L , SU R . Output regulation of linear heterogeneous multi-agent systems via output and state feedback[J]. Automatica, 2016, 67, 157- 164. doi: 10.1016/j.automatica.2016.01.040
10	LIU X K , WANG Y W , XIAO J W , et al. Distributed hierarchical control design of coupled heterogeneous linear systems under switching networks[J]. International Journal of Robust & Nonlinear Control, 2017, 27 (8): 1242- 1259.
11	HUA Y Z , DONG X W , HAN L , et al. Formation-containment tracking for general linear multi-agent systems with a tracking-leader of unknown control input[J]. Systems & Control Letters, 2018, 122, 67- 76.
12	HU J Y , BHOWMICK P , LANZON A . Two-layer distributed formation-containment control strategy for linear swarm systems: algorithm and experiments[J]. International Journal of Robust Nonlinear Control, 2020, 30 (16): 6433- 6453. doi: 10.1002/rnc.5105
13	ZUO S , SONG Y , LEWIS F L , et al. Time-varying output formation-containment of general linear homogeneous and heterogeneous multi-agent systems[J]. IEEE Trans.on Control of Network Systems, 2018, 6 (2): 537- 548.
14	LI W H, ZHANG H G, GAO Z Y, et al. Fully distributed event/self-triggered bipartite output formation-containment tracking control for heterogeneous multiagent systems[J]. IEEE Trans. on Neural Networks and Learning Systems, 2022. https://ieeexplore.ieee.org/abstract/document/9715168.
15	CHU H J , GAO L X , ZHANG W D . Distributed adaptive containment control of heterogeneous linear multi-agent systems: an output regulation approach[J]. IET Control Theory & Applications, 2015, 10 (1): 95- 102.
16	HU J , BHOWMICK P , LANZON A . Distributed adaptive time-varying group formation tracking for multiagent systems with multiple leaders on directed graphs[J]. IEEE Trans.on Control of Network Systems, 2020, 7 (1): 140- 150. doi: 10.1109/TCNS.2019.2913619
17	LU Y L , DONG X W , LI Q D , et al. Time-varying group formation-containment tracking control for general linear multiagent systems with unknown inputs[J]. IEEE Trans.on Cybernetics, 2021, 52 (10): 11055- 11067.
18	田磊, 赵启伦, 董希旺, 等. 异构多智能体系统分组输出时变编队跟踪控制[J]. 航空学报, 2020, 41 (7): 301- 312.
	TIAN L , ZHAO Q L , DONG X W , et al. Time-varying output group formation tracking for heterogeneous multi-agent systems[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41 (7): 301- 312.
19	魏志强, 翁哲鸣, 化永朝, 等. 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): 258- 273.
	WEI Z Q , WENG Z M , HUA Y Z , et al. Formation-containment tracking control for heterogeneous unmanned swarm systems with switching topologies[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44 (2): 258- 273.
20	HUA Y Z , DONG X W , HU G , et al. Distributed time-varying output formation tracking for heterogeneous linear multiagent systems with a onautonomous leader of unknown input[J]. IEEE Trans.on Automatic Control, 2019, 64 (10): 4292- 4299. doi: 10.1109/TAC.2019.2893978
21	QU Z H . Cooperative control of dynamical systems: applications to autonomous vehicles[M]. London: Springer-Verlag, 2009.
22	ZHOU S Y , DONG X W , HUA Y Z , et al. Predefined formation-containment control of high-order multi-agent systems under communication delays and switching topologies[J]. IET Control Theory & Applications, 2021, 15 (12): 1661- 1672.
23	ZHOU S Q, DONG X W, LI D Q, et al. Time-varying formation tracking control for UAV-UGV heterogeneous swarm systems with switching directed topologies[C]//Proc. of the IEEE 16th International Conference on Control & Automation, 2020.
24	周思全, 化永朝, 董希旺, 等. 面向空地协同作战的无人机-无人车异构时变编队跟踪控制[J]. 航空兵器, 2019, 26 (4): 54- 59.
	ZHOU S Q , HUA Y Z , DONG X W , et al. Air-ground time varying formation tracking control for heterogeneous UAV-UGV swarm system[J]. Aero Weaponry, 2019, 26 (4): 54- 59.
25	周思全, 董希旺, 李清东, 等. 无人机-无人车异构时变编队控制与扰动抑制[J]. 航空学报, 2020, 41 (S1): 128- 139.
	ZHOU S Q , DONG X W , LI Q D , et al. Time-varying formation control and disturbance rejection for UAV-UGV heterogeneous swarm system[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41 (S1): 128- 139.

[1]	游骏, 张科, 韩治国, 蔡天星, 张程. 带视线角约束的三维超螺旋滑模协同制导律[J]. 系统工程与电子技术, 2023, 45(7): 2138-2149.
[2]	张毅, 于浩, 杨秀霞, 姜子劼. 无人机集群分组编队控制跟踪一体化设计[J]. 系统工程与电子技术, 2023, 45(3): 848-858.
[3]	王双双, 李春涛, 王震, 苏子康, 戴飞. 基于自适应动态逆的着舰控制器设计[J]. 系统工程与电子技术, 2022, 44(1): 218-225.
[4]	张易明, 艾剑良. 基于双目视觉的空中加油锥套定位与对接控制[J]. 系统工程与电子技术, 2021, 43(10): 2940-2953.
[5]	李宗星, 张锐. 基于Riccati方程的导弹自适应姿态控制[J]. 系统工程与电子技术, 2020, 42(6): 1358-1365.
[6]	唐伟强, 龙文堃, 孙丽娟, 黄小丽. 基于聚类方法和神经网络的非线性系统多模型自适应控制[J]. 系统工程与电子技术, 2019, 41(9): 2100-2106.
[7]	陶佳伟, 张涛. 具有预设性能的近距离星间相对姿轨耦合控制[J]. 系统工程与电子技术, 2019, 41(5): 1103-1109.
[8]	李桂英, 于志刚, 张扬. 带有角度约束的机动目标拦截协同制导律[J]. 系统工程与电子技术, 2019, 41(3): 626-635.
[9]	沈智鹏, 毕艳楠, 郭坦坦, 王茹. 带非线性观测器的欠驱动船舶自适应动态面输出反馈轨迹跟踪控制[J]. 系统工程与电子技术, 2019, 41(2): 409-415.
[10]	钟京洋, 宋笔锋. 基于L1自适应律的尾坐式飞行器悬停位置控制[J]. 系统工程与电子技术, 2018, 40(9): 2062-2070.
[11]	沈智鹏, 王茹. 基于DSC和MLP的欠驱动船舶自适应滑模轨迹跟踪控制[J]. 系统工程与电子技术, 2018, 40(3): 643-651.
[12]	王超, 张胜修, 宋仔标, 杨建业, 吴晓露. 飞行器抗饱和鲁棒自适应非线性模型预测控制[J]. 系统工程与电子技术, 2018, 40(2): 393-400.
[13]	魏扬, 徐浩军, 薛源. 无人机三维编队保持的自适应抗扰控制器设计[J]. 系统工程与电子技术, 2018, 40(12): 2758-2765.
[14]	夏川, 董朝阳, 王青, 程昊宇. 复合控制导弹反步滑模IGC自适应设计方法[J]. 系统工程与电子技术, 2018, 40(10): 2325-2333.
[15]	司文杰, 董训德, 曾玮. 一类严格反馈时滞系统的自适应输出反馈控制[J]. 系统工程与电子技术, 2017, 39(6): 1325-1333.