地面无人平台集群协同控制的研究进展

Recent Advances in Cooperative Control for Ground Unmanned Platforms Clusters

梳理了近几年来国内外关于地面无人平台集群协同控制几个问题的研究进展。首先,引入典型的地面无人平台模型,并介绍协同控制中处理其非完整约束的几种方法;其次,介绍了地面无人平台集群的协同控制任务;再次,回顾了在建模不确定性、外界扰动、地面无人平台发生打滑和侧滑等条件下地面无人平台集群的几种鲁棒协同控制方法。然后,从事件触发控制的角度出发,综述了在通信网络和计算资源受限条件下地面无人平台集群协同控制最新研究成果。最后,给出了地面无人平台集群协同控制中几个值得研究的问题,并对地面无人平台集群协同控制的发展进行展望。

This paper aims to provide a review of recent advances in several problems of cooperative control for the ground unmanned platform cluster in recent years.To begin with,the model of typical ground unmanned platforms together with several approaches to handle nonholonomic constraints of the ground unmanned platform in cooperative control is introduced.Then,the cooperative control tasks for the cluster of the ground unmanned platforms are presented.Next,several robust cooperative control algorithms for ground unmanned platform clusters under the conditions of modeling uncertainties,external perturbations,skidding and sideslip,etc.,are reviewed.Subsequently,from the perspective of event-triggered control,the latest research results on cooperative control for the cluster of ground unmanned platforms under the conditions of limited communication networks and computational resources are investigated.Finally,several problems worthy of being studied in the cooperative control of ground unmanned platform clusters are given,and the future development is foreseen.