Decentralized optimal control of coordination target awareness with multiple vehicles
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摘要: 由于平台之间信息和计算是高度分布的,平台的运动以及通信拓扑的变化,使得多平台集中式协调控制结构很难实现.以最小通信量为基础的分散协同控制具有可扩展性、异构性和动态可重构性等特点,可靠性和鲁棒性较好.提出了集中和分散相结合的多平台协同控制系统结构,集中控制主要实施任务分配、通信管理以及编队管理,而平台之间则可在有限通信基础上实施分散化最优协调控制.建立了被动多平台协同目标感知分散化信息融合算法,以信息熵作为效能指标,实现了存在控制、通信和防撞等不同约束条件下的多平台协同目标感知分散化最优控制及协同感知目标信息的极大化.仿真结果表明:有通信情况下的多平台协同目标跟踪性能明显优于无通信情况下的非协同目标跟踪性能.Abstract: The centralized coordination control of multiple vehicles was difficult to implement since the highly distributed information and computation, the vehicles motion, and the changing information networks topology. The decentralized coordination control was scalable, heterogeneous, reconfigurable, and robust. The structure of coordination control system for multiple vehicles with the characteristics of decentralized control and centralized control was proposed. The mission management system and the method of decentralized optimal coordination control based on minimal communications were investigated. As an example of coordinated target tracking with multiple passive sensor vehicles, the algorithms of decentralized information fusion were developed. The decentralized optimal control of coordination target awareness with multiple passive sensor vehicles was implemented to maximize the information utility gained by each sensor vehicle under the different constraints of control, communication and safety. The simulation results demonstrate that the performance of coordination target tracking with communication is obviously better than the one of non-coordination without communication.
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Key words:
- coordination /
- target tracking /
- information fusion /
- decentralized control
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