Self-adaptive formation method applied to networked cluster intelligent agent system

Abstract

The invention provides a self-adaptive formation method applied to a networked cluster intelligent agent system and belongs to the technical field of formation control of the networked cluster intelligent agent system. The self-adaptive formation method comprises the following steps: describing formation stability of the networked cluster intelligent agent system by utilizing a consistency regionanalysis method; designing a basic form of a self-adaptive time-varying formation controller; carrying out dynamic design on the coupling strength of the self-adaptive time-varying formation controller by utilizing a self-adaptive parameter design method; designing the measurement based on distributed local relative information to an increment speed of the coupling strength; bringing the self-adaptive time-varying formation controller to the networked cluster intelligent agent system to form a closed ring system; analyzing the formation stability of the closed ring system by applying a self-adaptive analysis and Lyapunov method, so that time-varying formation of the networked cluster intelligent agent system is realized. According to the method provided by the invention, the stability of the self-adaptive controller to the time-varying formation of the networked cluster intelligent agent system is ensured, and a self-adaptive time-varying formation design of the networked cluster intelligent agent system is realized.

Description

technical field [0001] The invention belongs to the technical field of formation control of a networked cluster intelligent body system, and in particular relates to an adaptive formation method applied to a networked cluster intelligent body system. Background technique [0002] Multi-UAV cooperative formation combat flight is an important trend in the development of UAVs in the future, and has broad development prospects. However, with the continuous improvement of combat requirements and the improvement of the air defense system, relying on a single UAV to perform combat tasks can no longer meet current and future combat needs. Complementary capabilities and coordination of actions can effectively overcome the lack of combat performance of a single UAV, reduce target detection and tracking blind spots, and improve the effectiveness of completing designated combat tasks. The formation control technology of networked swarm intelligent body system is an important theoretica...

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Problems solved by technology

[0003] However, for different swarm agent systems, the consistency region corresponding to the coupling strength of the distributed cooperative formation controller often presents intermittent and discontinuous characteristics, which makes the design process of the distributed cooperative formation controller very complicated, and The coupling strength design process often depends on the global parameters of the networked swarm agent

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