基于时域映射的多无人机系统给定时间分布式最优集结

doi:10.13700/j.bh.1001-5965.2020.0215

北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (2): 315-322.doi: 10.13700/j.bh.1001-5965.2020.0215

基于时域映射的多无人机系统给定时间分布式最优集结

丁超^1,2, 魏瑞轩², 周凯^1,2

1. 空军工程大学研究生院, 西安 710051;
2. 空军工程大学航空工程学院, 西安 710038

收稿日期:2020-05-26 发布日期:2021-03-08
通讯作者: 魏瑞轩 E-mail:rxwei369@sohu.com
作者简介:丁超,男,博士研究生。主要研究方向:多智能体系统协同控制与非线性系统控制;魏瑞轩,男,博士,教授,博士生导师。主要研究方向:导航制导与飞行控制;周凯,男,博士研究生。主要研究方向:强化学习理论与应用。
基金资助:
科技创新2030-“新一代人工智能”重大项目（2018AAA0102403）；国家自然科学基金（61573373）

Distributed optimal rendezvous of multi-UAV systems in prescribed time based on time-domain mapping

DING Chao^1,2, WEI Ruixuan², ZHOU Kai^1,2

1. Graduate College, Air Force Engineering University, Xi'an 710051, China;
2. Aeronautics Engineering College, Air Force Engineering University, Xi'an 710038, China

Received:2020-05-26 Published:2021-03-08

摘要/Abstract

摘要： 针对多无人机系统给定时间最优集结问题，建立了基于时域映射的分布式优化框架。首先，引入一类特殊的时域映射，将原时域的给定时间决策问题转化为了无限域中的渐近稳定问题，简化了分析设计流程。其次，进一步设计了给定时间梯度下降算法，其收敛时间与系统初始条件及其他参数无关，能够被预先给定，且算法时变增益的使用消除了参数选择过程，在全局信息严重匮乏的情况下仍然适用。仿真结果表明：所提方法能够在给定时间内实现多无人机分布式最优集结，并保证任务时间内闭环系统全局有界。

关键词: 多无人机系统, 给定时间, 时域映射, 分布式优化, 一致性

Abstract: To solve the prescribed-time optimal rendezvous problem for multi-UAV systems, a distributed optimization framework is established based on time-domain transformation technique. By introducing a specific time-domain transformation, the prescribed-time decision problem in original time-domain is transformed into an asymptotically stable problem in the infinite domain, which simplifies the analysis and design process. Then, we design a prescribed-time gradient descent algorithm whose convergence time is independent of the initial states as well as other parameters and therefore can be pre-specified. Besides, the application of time-varying gain removes the parameter selection process, which enables the proposed method in the context of a serious lack of global information. The simulation results show that this method is able to achieve the distributed optimal rendezvous for multiple UAVs in prescribed time, and the closed-loop system remains globally bounded in mission time.

Key words: multi-UAV systems, prescribed-time, time-domain transformation, distributed optimization, consensus

中图分类号:

TP273

丁超, 魏瑞轩, 周凯. 基于时域映射的多无人机系统给定时间分布式最优集结[J]. 北京航空航天大学学报, 2021, 47(2): 315-322.

DING Chao, WEI Ruixuan, ZHOU Kai. Distributed optimal rendezvous of multi-UAV systems in prescribed time based on time-domain mapping[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 315-322.

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基于时域映射的多无人机系统给定时间分布式最优集结

Distributed optimal rendezvous of multi-UAV systems in prescribed time based on time-domain mapping

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