异构无人集群分组编队自适应跟踪合围控制

Adaptive group formation tracking-containment control for heterogeneous unmanned swarm

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。

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.