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二阶多智能体系统自抗扰编队跟踪与避撞控制

姚辉 席建祥 王成 胡来红

姚辉, 席建祥, 王成, 等 . 二阶多智能体系统自抗扰编队跟踪与避撞控制[J]. 北京航空航天大学学报, 2020, 46(5): 960-977. doi: 10.13700/j.bh.1001-5965.2019.0359
引用本文: 姚辉, 席建祥, 王成, 等 . 二阶多智能体系统自抗扰编队跟踪与避撞控制[J]. 北京航空航天大学学报, 2020, 46(5): 960-977. doi: 10.13700/j.bh.1001-5965.2019.0359
YAO Hui, XI Jianxiang, WANG Cheng, et al. Active disturbance rejection based formation tracking and collision avoidance control for second-order multi-agent system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 960-977. doi: 10.13700/j.bh.1001-5965.2019.0359(in Chinese)
Citation: YAO Hui, XI Jianxiang, WANG Cheng, et al. Active disturbance rejection based formation tracking and collision avoidance control for second-order multi-agent system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 960-977. doi: 10.13700/j.bh.1001-5965.2019.0359(in Chinese)

二阶多智能体系统自抗扰编队跟踪与避撞控制

doi: 10.13700/j.bh.1001-5965.2019.0359
基金项目: 

国家自然科学基金 61867005

国家自然科学基金 61763040

国家自然科学基金 61703411

国家自然科学基金 61503009

国家自然科学基金 61574049

详细信息
    作者简介:

    姚辉 男, 硕士研究生。主要研究方向:多无人机编队控制

    席建祥  男, 博士, 教授, 博士生导师。主要研究方向:复杂系统控制、切换系统控制、群系统控制

    通讯作者:

    席建祥, E-mail: xijx07@mails.tsinghua.edu.cn

  • 中图分类号: TP273

Active disturbance rejection based formation tracking and collision avoidance control for second-order multi-agent system

Funds: 

National Natural Science Foundation of China 61867005

National Natural Science Foundation of China 61763040

National Natural Science Foundation of China 61703411

National Natural Science Foundation of China 61503009

National Natural Science Foundation of China 61574049

More Information
  • 摘要:

    在多智能体编队的目标跟踪任务中,智能体受环境中的障碍物的遮挡作用会丢失目标,而外部扰动会影响系统的时变编队跟踪的控制效果。为此,研究了这两种因素同时存在情况下的二阶多智能体系统时变编队跟踪和避撞控制。采用基于目标跟踪优先级的切换拓扑控制策略以实现在障碍物遮挡环境中对目标的持续跟踪,根据自抗扰理论设计包含扰动补偿项的编队跟踪控制器。首先,基于一致性方法提出切换拓扑下自抗扰时变编队跟踪控制协议,并给出一种基于跟踪微分器的编队指令生成方法;其次,设计了求解控制参数的算法并给出协议作用下系统的稳定性分析和证明;然后,基于人工势场法设计避撞控制协议;最后,提出障碍物遮挡环境下自抗扰时变编队跟踪控制协议。仿真实验结果表明:所设计的控制协议在上述两种因素存在时仍具有良好的控制效果。

     

  • 图 1  障碍物模型

    Figure 1.  Models of obstacles

    图 2  系统初始作用拓扑

    Figure 2.  Initial interaction topology of system

    图 3  目标高度变化曲线

    Figure 3.  Altitude curve of target

    图 4  实验1-1中无人机与目标位置轨迹

    Figure 4.  Position trajectories of UAVs and target in experiment 1-1

    图 5  实验1-1中无人机与目标高度差曲线

    Figure 5.  Curves of altitude difference between UAVs and target in experiment 1-1

    图 6  实验1-1中无人机与障碍物距离曲线

    Figure 6.  Curves of distance between UAVs and obstacles in experiment 1-1

    图 7  实验1-1中无人机之间距离曲线

    Figure 7.  Curves of distance between UAVs in experiment 1-1

    图 8  实验1-2中无人机与目标位置轨迹

    Figure 8.  Position trajectories of UAVs and target in experiment 1-2

    图 9  实验1-2中无人机与目标高度差曲线

    Figure 9.  Curves of altitude difference between UAVs and target in experiment 1-2

    图 10  实验1-2中无人机与障碍物距离曲线

    Figure 10.  Curves of distance between UAVs and obstacles in experiment 1-2

    图 11  实验1-2中无人机之间距离曲线

    Figure 11.  Curves of distance between UAVs in experiment 1-2

    图 13  实验2-1中无人机与目标位置轨迹

    Figure 13.  Position trajectories of UAVs and target in experiment 2-1

    图 14  实验2-1中无人机与目标高度差曲线

    Figure 14.  Curves of altitude difference between UAVs and target in experiment 2-1

    图 18  实验2-2中无人机与目标位置轨迹

    Figure 18.  Position trajectories of UAVs and target in experiment 2-2

    图 19  实验2-2中无人机与目标高度差曲线

    Figure 19.  Curves of altitude difference between UAVs and the target in experiment 2-2

    图 12  作用拓扑的集合

    Figure 12.  Set of interaction topologies

    图 15  实验2-1中无人机与障碍物距离曲线

    Figure 15.  Curves of distance between UAVs and obstacles in experiment 2-1

    图 16  实验2-1中无人机之间距离曲线

    Figure 16.  Curves of distance between UAVs in experiment 2-1

    图 17  实验2-1中作用拓扑切换过程

    Figure 17.  Switching process of interaction topologies in experiment 2-1

    图 20  实验2-2中无人机与障碍物距离曲线

    Figure 20.  Curves of distance between UAVs and obstacles in experiment 2-2

    图 21  实验2-2中无人机之间距离曲线

    Figure 21.  Curves of distance between UAVs in experiment 2-2

    图 22  实验2-2中作用拓扑切换过程

    Figure 22.  Switching process of interaction topologies in experiment 2-2

    表  1  目标和无人机的初始状态向量

    Table  1.   Initial state vectors of target and UAVs

    智能体 位置向量/m 速度向量/(m·s-1)
    目标 (0, 0, 0) (0, 0, 0.1)
    2号无人机 (0, 6, 0) (0, 0, 0)
    3号无人机 (0, 0, 0)
    4号无人机 (0, 0, 0)
    下载: 导出CSV

    表  2  障碍物位置向量

    Table  2.   Position vectors of obstacles

    实体类障碍物 位置向量/m
    1号障碍物 (0, -6, 1)
    2号障碍物
    3号障碍物
    4号障碍物 (0, -6, 11)
    5号障碍物
    6号障碍物
    下载: 导出CSV

    表  3  作用拓扑的切换规则

    Table  3.   Switching rule of interaction topologies

    障碍物对无人机的遮挡情况 通信拓扑
    2号无人机未被遮挡,其他无人机被遮挡或未被遮挡 A
    2号无人机被遮挡,3号无人机未被遮挡,4号无人机被遮挡或未被遮挡 B
    2号和3号无人机均被遮挡,4号无人机未被遮挡 C
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-07-03
  • 录用日期:  2019-08-30
  • 刊出日期:  2020-05-20

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