A distributed decision method for missiles autonomous formation based on potential game

The distributed cooperative decision problems of missiles autonomous formation with network packet loss are investigated by using the potential game based on formation principles.In particular,a dynamic target allocation method for missiles formation is provided based on the potential game and formation principles,after the introduction of cooperative guidance and control system of the missiles formation.Then we seek the optimization of a global utility function through autonomous missiles that are capable of making individually rational decisions to optimize their own utility functions.The first important aspect of the problem is to design an individual utility function considering the characteristics of the missiles formation,with which the objective of the missiles are localized to each missile yet aligned with the global utility function.The second is to equip the missiles with an appropriate coordination mechanism with each missile pursuing the optimization of its own utility function.We present the design procedure for the utility,and present a coordination mechanism based on spatial adaptive play and then introduce the idea of“cyclical selected spatial adaptive play”and“negotiation based on time division multiple address(TDMA)protocol formation support network”.Finally,we present simulations for the distributed dynamic target allocation on the comprehensive digital simulation system,and the results illustrate the effectiveness and engineering applicability of the method.

Fixed-time Sliding Mode Formation Control of AUVs Based on a Disturbance Observer

In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean currents are combined with the model parameter uncertainties as a compound disturbance.Then a disturbance observer(DO)is introduced to estimate the compound disturbance,which can be achieved within a finite time independent of the initial estimation error.Based on a DO,a novel fixed-time sliding control scheme is developed,by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time.The effectiveness and performance of the method are demonstrated by numerical simulations.

Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning

Most formation approaches of autonomous underwater vehicles(AUVs)focus on the control techniques,ignoring the influence of underwater channel.This paper is concerned with a communication-aware formation issue for AUVs,subject to model uncertainty and fading channel.An integral reinforcement learning(IRL)based estimator is designed to calculate the probabilistic channel parameters,wherein the multivariate probabilistic collocation method with orthogonal fractional factorial design(M-PCM-OFFD)is employed to evaluate the uncertain channel measurements.With the estimated signal-to-noise ratio(SNR),we employ the IRL and M-PCM-OFFD to develop a saturated formation controller for AUVs,dealing with uncertain dynamics and current parameters.For the proposed formation approach,an integrated optimization solution is presented to make a balance between formation stability and communication efficiency.Main innovations lie in three aspects:1)Construct an integrated communication and control optimization framework;2)Design an IRL-based channel prediction estimator;3)Develop an IRL-based formation controller with M-PCM-OFFD.Finally,simulation results show that the formation approach can avoid local optimum estimation,improve the channel efficiency,and relax the dependence of AUV model parameters.

A Novel Obstacle Avoidance Consensus Control for Multi-AUV Formation System

In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy(IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy.The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms.

Control of group of mobile autonomous agents via local strategies

This paper considers the formation control problem of multi-agent systems in a distributed fashion. Two cases of the information propagating topologies among multiple agents, characterized by graphics model, are considered. One is fixed topology. The other is switching topology which represents the limited and less reliable information exchange. The local formation control strategies established in this paper are based on a simple modification of the existing consensus control strategies. Moreover, some existing convergence conditions are shown to be a special case of our model even in the continuous-time consensus case. Therefore, the results of this paper extend the existing results about the consensus problem.

CBF-Based Distributed Model Predictive Control for Safe Formation of Autonomous Mobile Robots

A distributed model predictive control(DMPC)method based on robust control barrier function(RCBF)is developed to achieve the safe formation target of multi-autonomous mobile robot systems in an uncertain disturbed environment.The first step is to analyze the safety requirements of the system during safe formation and categorize them into collision avoidance and distance connectivity maintenance.RCBF constraints are designed based on collision avoidance and connectivity maintenance requirements,and security constraints are achieved through a combination.Then,the specified safety constraints are integrated with the objective of forming a multi-autonomous mobile robot formation.To ensure safe control,the optimization problem is integrated with the DMPC method.Finally,the RCBF-DMPC algorithm is proposed to ensure iterative feasibility and stability while meeting the constraints and expected objectives.Simulation experiments illustrate that the designed algorithm can achieve cooperative formation and ensure system security.

Cooperative Formation Control of Autonomous Underwater Vehicles:An Overview

Formation control is a cooperative control concept in which multiple autonomous underwater mobile robots are deployed for a group motion and/or control mission. This paper presents a brief review on various cooperative search and formation control strategies for multiple autonomous underwater vehicles （AUV） based on literature reported till date. Various cooperative and formation control schemes for collecting huge amount of data based on formation regulation control and formation tracking control are discussed. To address the challenge of detecting AUV failure in the fleet, communication issues, collision and obstacle avoidance are also taken into attention. Stability analysis of the feasible formation is also presented. This paper may be intended to serve as a convenient reference for the further research on formation control of multiple underwater mobile robots.

New advances in multiple autonomous aerial robots formation control technology

Autonomous aerial robotics has become a hot direction ofresearch inside the community of robotics and control. Theprimary problem addressed by formation control is to steermultiple aerial robots to form desired geometric patterns and,at the same time, realize desired collective swarming behaviorsin a decentralized or distributed manner. In contrast toground vehicles, aerial robots have the ability to work inthree-dimensional (3D) airspace. Equipped with electric orhydraulic motors, the vertical take-off and landing (VTOL)capability is a typical performance of aerial robots. Formationcontrol technology for such aerial robots is incessantlyspringing up to satisfy the requirements of highly intelligentautonomous systems, which affects both military and civilareas, including missile defense, battlefield surveillance,satellite network construction, fire suppression, power gridinspection, commercial show, etc. [1–5]. Such a problem ofmultiple aerial robots formation control is exceptionallychallenging to analyze if practical constraints such as complexdynamics, motion constraints, and imperfect measurementsare incorporated.

Robust Cooperative Control of Multiple Autonomous Vehicles for Platoon Formation Considering Parameter Uncertainties

This paper proposes a robust cooperative control strategy for multiple autonomous vehicles to achieve safe and efficient platoon formation,and it analyzes the effects of vehicle stability boundaries and parameter uncertainties.The cooperative vehicle control framework is composed of the upper planning level and lower tracking control level.In the planning level,the trajectory of each vehicle is generated by using the multi-objective flocking algorithm to form the platoon.The parameters of the flocking algorithm are optimized to prevent the vehicle speed and yaw rate from going beyond their limits.In the lower level,to realize the stable platoon formation,a lumped disturbance observer is designed to gain the stable-state reference,and a distributed robust model predictive controller is proposed to achieve the offset-free trajectory tracking while downsizing the effects of parameter uncertainties.The simulation results show the proposed cooperative control strategy can achieve safe and efficient platoon formation.

Behavior-based Autonomous Navigation and Formation Control of Mobile Robots in Unknown Cluttered Dynamic Environments with Dynamic Target Tracking

While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots(TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: "target tracking", "obstacle avoidance", "dynamic wall following" and "avoid robots". The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Furthermore, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.

面向海流扰动和通信时延的欠驱动AUV编队跟踪控制

由欠驱动自主水下航行器(Autonomous Underwater Vehicle,AUV)编队组成的水下探测阵列具有响应快、机动性好、智能化程度高的特点。针对无速度信息传输的多AUV在海流和时延复合扰动下的编队控制问题,提出一种虚拟轨迹、轨迹预测、自适应反演滑模控制技术相结合的编队控制方法。使用领航者的位置信息和期望队形得到跟随者的参考轨迹,并引入虚拟轨迹使其与跟随者参考轨迹有限时间重合,从而得到跟随者的期望位置和速度。在此基础上,使用最小二乘法拟合轨迹曲线进行时延补偿,并通过自适应反演滑模控制技术完成海流干扰下的编队轨迹跟踪。理论分析和仿真结果表明,新方法具有可行性和有效性。

基于CFD的协同AUV编队队形研究

为了研究自主水下航行器(AUV)编队协同航行的减阻效果,对3个典型编队开展水动力性能研究。采用计算流体动力学(CFD)对3艘AUV以串列队形、并列队形和三角队形等开展水动力计算。通过改变各队形下AUV之间的间距,找到最佳队形间距位置,得出对各AUV的阻力影响。利用多目标遗传算法(MOGA)对三角队形进行优化,得出阻力最小的航行间距。结果表明:在串列队形中,当横向距离为3.80m和3.50m时,系统阻力达到最小;在并列队形中,系统阻力随纵向距离增大而减小,但系统内各AUV相比单体AUV无法获得阻力收益;在三角队形中,当横向距离为2.46 m、纵向距离为1.21 m时,系统阻力达到最小。研究成果可为多AUV编队航行提供一定参考。

无人机集群编队自主协同控制方法综述

自主协同控制是实现无人机集群高效协同编队的一种主流控制方法,属于当前无人机控制领域的研究热点和难点。论文首先从两类无人机集群编队自主协同控制主流类型切入。然后,重点对集中式控制类型中的领航者-跟随者法、虚拟结构法,和分布式控制类型中的人工势场法、行为法、一致性理论法、深度强化学习法等典型方法的基本思想、特点和最新研究进展进行了对比分析。最后,对无人机集群编队自主协同控制方法的发展趋势进行展望,以期为后续研究提供参考。

题材的被动传入与自主选用——日本唐话教材的形成路径考察

为满足中日贸易往来与文化交流的需求,江户时期的唐话教育编选了大量的唐话教材,具有重要的学术价值。从题材的来源与选用两个角度来看,唐话教材的形成路径具有被动性与主动性两个特征,即中国文献传入日本的被动性、唐话教材选用中国文献的主动性。就唐话教材形成路径的实质来说,它实际上就是江户时期中日文化交流的一个具体而微的缩影。通过这一个案研究,既可以给国际中文教育或国别汉语教育带来有益的启示,也能够为中外跨文化交流路径提供历史借鉴。

自主编队飞行大系统的建模研究

针对导弹自主编队飞行大系统用例的机理、特点和任务需求,引进大系统控制论及其广义模型化方法,进行了自主编队飞行大系统广义模型化的需求分析,并给出了建模方法,建立了总模型和子模型。通过广义模型化的建模方法研究,为控制系统总体方案论证提供一种有效的设计思路,也为工程应用中深入的理论和方法研究打下良好基础。

双星编队星座相对状态自主确定

针对 NASA的 ST- 3中自主编队飞行的双星星座 ,研究在无 GPS信号覆盖区域 ,利用星载类 GPS的伪距和载波观测数据自主确定双星星座之间相对位置与钟差的问题。文中首先给出了系统的数学模型 ;然后研究利用卫星姿态机动提供的几何信息 ,进行单差整周模糊度初始化的问题 ,讨论了最优化的卫星姿态机动方案 ;最后给出了仿真协方差分析结果。

内蒙古自治区商都盆地新生界氢气成因

研究内蒙古自治区商都盆地地层中氢气的成因与分布,探索富含氢气的天然气藏形成的可能性,可以指导该区下一步的勘探。为此,通过研究地质、钻井、录井、同位素组分地化分析等多方面的资料,进行了该区氢气成因的综合研究和聚集模式的初步分析。结果发现:该区天然气中有相对高含量的氢气,同时伴生有二氧化碳、氮气、稀有气体等成分,但基本不含烃类气体;该区具有幔源气形成、运移的地质条件,其氢气等具有幔源无机成因的同位素组分特征;不同井的相同层位具有相似的氢气显示,表明氢气的分布具有一定的广泛性。最后认为,该区的氢气属无机成因,地壳深部的无机气体沿深大断裂垂向运移到上部沉积地层中是其主要的聚集模式,该区具有无机气勘查的良好前景。

欠驱动AUV自适应编队控制策略

针对欠驱动AUV的编队问题,提出了基于柱坐标系的AUV运动学模型,以建立多AUV的期望编队区域和编队的人工势场函数。根据AUV的动力学模型建立多AUV自适应编队控制策略,并使用李雅普诺夫函数加以证明。在多AUV编队的仿真中,建立了3个欠驱动AUV编队的仿真平台,分析了欠驱动AUV在编队过程的特点,通过结合使用人工势场能函数,使领航员AUV在完成空间折线和螺旋线路径跟随同时,实现了跟随中多AUV的编队和队形保持,并使AUV之间的相对距离误差逐渐趋于零并保持稳定,从而证明了自适应编队控制策略,对欠驱动AUV编队的研究具有重要意义。

星间相对测量在三星编队中的应用

以NASA新千年计划中的深空计划3为背景,使用星载类GPS的伪距和载波观测数据,研究利用编队卫星间相对测量,高精度自主确定三星编队星座相对状态的有关问题;研究星间相对测量各种可能的测量方案和可能达到的精度,验证这种星间相对测量技术是否能够满足深空计划3的系统要求。首先建立了三星编队星间相对测量系统的数学模型,然后利用星载高精度伪距和载波观测信息,对各种可能的测量方案进行仿真协方差分析;研究利用卫星姿态机动提供的几何信息,进行单差整周模糊度初始化的问题,讨论了卫星姿态机动方案;最后针对每一种测量方案给出了仿真结果和相关的结论。

基于Simulink/VRML的自主水下航行器编队控制仿真

针对多自主水下航行器编队协同控制问题,建立了基于Leader-Follower编队的数学模型,设计了编队控制律,并从理论上证明了控制律的稳定性。为了直观地表达自主水下航行器编队控制的效果,利用MATLAB的Simulink/VRML工具箱构建了水下航行器的编队控制的可视化仿真模型。仿真结果表明,提出的编队控制算法是有效的,所构建的仿真平台直观地表达了自主水下航行器的编队效果,该仿真模型易于扩展,且可以验证其它编队控制算法。