Distributed formation control system and method in disturbance three-dimensional environment
A control method and distributed technology, applied in the field of formation control, can solve the problems of noise in measurement, model uncertainty, high cost of centralized control law solution, and achieve the effect of reducing computational cost and enhancing anti-strike ability.
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[0031] In order to illustrate the present invention more clearly, the present invention will be further described below in conjunction with preferred embodiments and accompanying drawings. Those skilled in the art should understand that the content specifically described below is illustrative rather than restrictive, and should not limit the protection scope of the present invention.
[0032] Such as figure 1 As shown, the embodiment of the present invention provides a distributed formation control system in a disturbed three-dimensional environment, which includes three modules: the optimal control law solution module in the prediction time domain, and the individual state estimation module in the formation based on extended Kalman filtering. And the individual state evolution module in the formation. figure 2 The overall system design based on the simulation environment is given.
[0033] In the overall design, it is considered that the current real state of the sensor in...
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