Guidance problems with flight time constraints are considered in this article. A new virtual leader scheme is used for design of guidance laws with time constraints. The core idea of this scheme is to adopt a virtual ...Guidance problems with flight time constraints are considered in this article. A new virtual leader scheme is used for design of guidance laws with time constraints. The core idea of this scheme is to adopt a virtual leader for real missiles to convert a guidance problem with time constraints to a nonlinear tracking problem,thereby making it possible to settle the problem with a variety of control methods. A novel time-constrained guidance （TCG） law, which can control the flight time of missiles to a prescribed time,is designed by using the virtual leader scheme and stability method. The TCG law is a combination of the well-known proportional navigation guidance（PNG） law and the feedback of flight time error. What＇ s more, this law is free of singularities and hence yields better performances in comparison with optimal guidance laws with time constraints. Nonlinear simulations demonstrate the effectiveness of the proposed law.展开更多
Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring agents.In this paper,the problem of controlling a flock o...Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring agents.In this paper,the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders is investigated by using only position information in the sense that agents with the same virtual leader asymptotically attain the same velocity and track the corresponding virtual leader based on only position measurements.A flocking algorithm is proposed under which every agent asymptotically attains its desired velocity,collision between agents can be avoided,and the final tight formation minimizes all agents' global potentials.A simulation example is presented to verify and illustrate the theoretical results.展开更多
The virtual enterprise will play a more and more im po rtant role in economy development. The virtual enterprise leader raises market a daptability and group cooperation ability through its dynamic management. Thus t ...The virtual enterprise will play a more and more im po rtant role in economy development. The virtual enterprise leader raises market a daptability and group cooperation ability through its dynamic management. Thus t he validity and efficiency of leader’s dynamic management determines the efficie ncy of the virtual enterprise operation, and the validity of the information flo w is one of the main factors. In this paper, the validity of the information flo w in the course of the leader’s dynamic management in the virtual enterprise is analyzed by using the economic searching theory and the information theory, and the possible ways to improve the validity and efficiency of leader’s dynamic man agement are indicated. Firstly, the basic concepts such as leader’s dynamic management, virtual enterpr ise, and its leader are defined. The dynamic management procedure for the virtua l enterprise leader is analyzed with the dynamic theory raised by Mowshowitz. Secondly, the model for the dynamic management of the virtual enterprise leader is constructed using multi-goal selection. The information flow validity for th e leader during the stages of the identification and the establishment is analyz ed with the economic searching theory and the information theory. Meanwhile, the value of the dynamic management policy is discussed with the information va lue theory. Finally, two ways to improve the validity of the information flow are obtained. The first way is to process the various kinds of information of the existing mem bers in the virtual enterprise for the future cooperative usage and to extend th e selective objects for the leader, and to make the detailed and clear mechanism of the object evaluation and selection (the market chance and the cooperative partner). The other way is to build the system of the effective transfer and process of the feedback information flow during the operation of the virtual ent erprise based on the information technology.展开更多
With the fast changing of environment, virtual enterprises become a kind of new manufacture mode day by day. In the course of establishment and operation of virtual enterprises, the leader＇s status is very important....With the fast changing of environment, virtual enterprises become a kind of new manufacture mode day by day. In the course of establishment and operation of virtual enterprises, the leader＇s status is very important. The study of the leader＇s characteristic, function and how to discern will contribute to realize the leader＇s function and guarantee the healthy and fast development of virtual enterprises.展开更多
针对多无人艇编队避障问题,对静态避障的路径消耗问题进行建模分析,在动态避障时提出一种偏置人工势场法使策略符合艇群国际海上避碰规则(swarm International Regulations for Preventing Collisions at Sea,sCOLREGS)。本方法首先对...针对多无人艇编队避障问题,对静态避障的路径消耗问题进行建模分析,在动态避障时提出一种偏置人工势场法使策略符合艇群国际海上避碰规则(swarm International Regulations for Preventing Collisions at Sea,sCOLREGS)。本方法首先对传统人工势场法进行改进,定义符合艇群会遇态势判断需求的sCOLREGS,通过速度障碍法实时判断碰撞风险,然后利用偏置斥力区域的改进人工势场法实现对规则的遵守。仿真实验表明,本文方法在障碍物与编队大小相当时可显著减少避障路程,在确保避障实时性的同时,较好地遵守了国际海上避碰规则相关条例。研究结论可为海面无人艇集群安全航行提供参考。展开更多
This paper investigates the flocking problem in multi-agent system with time-varying delay and a virtual leader. Each agent here is subject to nonlinear dynamics. For the system, the corresponding algorithm with time-...This paper investigates the flocking problem in multi-agent system with time-varying delay and a virtual leader. Each agent here is subject to nonlinear dynamics. For the system, the corresponding algorithm with time-varying delay is proposed. Under the assumption that the initial network is connected, it is proved that the distance between agents is in the desired distance. The theoretical deduction shows that the stable flocking motion is achieved.展开更多
基金National Natural Science Foundation of China(60674103,60975073)National High-tech Research and Develop-ment Program of China (2006AA04Z260)+1 种基金Research Foundation forDoctoral Program of Higher Education of China (20091102110006 )Aeronautical Science Foundation of China(2008ZC13011)
文摘Guidance problems with flight time constraints are considered in this article. A new virtual leader scheme is used for design of guidance laws with time constraints. The core idea of this scheme is to adopt a virtual leader for real missiles to convert a guidance problem with time constraints to a nonlinear tracking problem,thereby making it possible to settle the problem with a variety of control methods. A novel time-constrained guidance （TCG） law, which can control the flight time of missiles to a prescribed time,is designed by using the virtual leader scheme and stability method. The TCG law is a combination of the well-known proportional navigation guidance（PNG） law and the feedback of flight time error. What＇ s more, this law is free of singularities and hence yields better performances in comparison with optimal guidance laws with time constraints. Nonlinear simulations demonstrate the effectiveness of the proposed law.
基金Supported by the National Natural Science Foundation of China under Grant No.61104140the Fundamental Research Funds for the Central Universities HUST under Grant Nos.2011JC055 and 20112292+1 种基金the Research Fund for the Doctoral Program of Higher Education (RFDP) under Grant No.20100142120023Natural Science Foundation of Hubei Province of China under Grant No.2011CDB042
文摘Most existing flocking algorithms assume one single virtual leader and rely on information on both relative positions and relative velocities among neighboring agents.In this paper,the problem of controlling a flock of mobile autonomous agents to follow multiple virtual leaders is investigated by using only position information in the sense that agents with the same virtual leader asymptotically attain the same velocity and track the corresponding virtual leader based on only position measurements.A flocking algorithm is proposed under which every agent asymptotically attains its desired velocity,collision between agents can be avoided,and the final tight formation minimizes all agents' global potentials.A simulation example is presented to verify and illustrate the theoretical results.
文摘The virtual enterprise will play a more and more im po rtant role in economy development. The virtual enterprise leader raises market a daptability and group cooperation ability through its dynamic management. Thus t he validity and efficiency of leader’s dynamic management determines the efficie ncy of the virtual enterprise operation, and the validity of the information flo w is one of the main factors. In this paper, the validity of the information flo w in the course of the leader’s dynamic management in the virtual enterprise is analyzed by using the economic searching theory and the information theory, and the possible ways to improve the validity and efficiency of leader’s dynamic man agement are indicated. Firstly, the basic concepts such as leader’s dynamic management, virtual enterpr ise, and its leader are defined. The dynamic management procedure for the virtua l enterprise leader is analyzed with the dynamic theory raised by Mowshowitz. Secondly, the model for the dynamic management of the virtual enterprise leader is constructed using multi-goal selection. The information flow validity for th e leader during the stages of the identification and the establishment is analyz ed with the economic searching theory and the information theory. Meanwhile, the value of the dynamic management policy is discussed with the information va lue theory. Finally, two ways to improve the validity of the information flow are obtained. The first way is to process the various kinds of information of the existing mem bers in the virtual enterprise for the future cooperative usage and to extend th e selective objects for the leader, and to make the detailed and clear mechanism of the object evaluation and selection (the market chance and the cooperative partner). The other way is to build the system of the effective transfer and process of the feedback information flow during the operation of the virtual ent erprise based on the information technology.
文摘With the fast changing of environment, virtual enterprises become a kind of new manufacture mode day by day. In the course of establishment and operation of virtual enterprises, the leader＇s status is very important. The study of the leader＇s characteristic, function and how to discern will contribute to realize the leader＇s function and guarantee the healthy and fast development of virtual enterprises.
文摘针对多无人艇编队避障问题,对静态避障的路径消耗问题进行建模分析,在动态避障时提出一种偏置人工势场法使策略符合艇群国际海上避碰规则(swarm International Regulations for Preventing Collisions at Sea,sCOLREGS)。本方法首先对传统人工势场法进行改进,定义符合艇群会遇态势判断需求的sCOLREGS,通过速度障碍法实时判断碰撞风险,然后利用偏置斥力区域的改进人工势场法实现对规则的遵守。仿真实验表明,本文方法在障碍物与编队大小相当时可显著减少避障路程,在确保避障实时性的同时,较好地遵守了国际海上避碰规则相关条例。研究结论可为海面无人艇集群安全航行提供参考。
文摘This paper investigates the flocking problem in multi-agent system with time-varying delay and a virtual leader. Each agent here is subject to nonlinear dynamics. For the system, the corresponding algorithm with time-varying delay is proposed. Under the assumption that the initial network is connected, it is proved that the distance between agents is in the desired distance. The theoretical deduction shows that the stable flocking motion is achieved.
