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Multi-agent auto-disturbance time-varying formation tracking and collision avoidance control method under obstruction of obstacle

A multi-agent, control method technology, applied in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc.

Inactive Publication Date: 2019-11-22
ROCKET FORCE UNIV OF ENG
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

The invention uses the ADRC theory to solve the disturbance suppression problem, realizes the collision avoidance control based on the potential field method, and adopts the strategy of switching topology to ensure the continuity of target tracking

Method used

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  • Multi-agent auto-disturbance time-varying formation tracking and collision avoidance control method under obstruction of obstacle
  • Multi-agent auto-disturbance time-varying formation tracking and collision avoidance control method under obstruction of obstacle
  • Multi-agent auto-disturbance time-varying formation tracking and collision avoidance control method under obstruction of obstacle

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Embodiment Construction

[0071] The present invention will be further described below in conjunction with the accompanying drawings and simulation experiments.

[0072] The present invention provides a multi-agent anti-disturbance time-varying formation tracking and collision avoidance control method under the occlusion of obstacles, including the following content:

[0073] 1. System modeling and time-varying formation tracking and collision avoidance controller

[0074] For a multi-agent system composed of 1 moving target and N-1 agents, the agents in the system are numbered from 1 to N in sequence, and the dynamic model of the target is expressed as:

[0075]

[0076] In the formula, and Represent the position and velocity of the target, n represents the spatial dimension, α x and alpha v is the damping coefficient. The dynamic model of the i(i∈{2,3,…,N}) agent is described as follows:

[0077]

[0078] in and are n-dimensional vectors, representing the position, velocity, control...

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Abstract

The invention discloses a multi-agent auto-disturbance time-varying formation tracking and collision avoidance control method under obstruction of an obstacle. The multi-agent system is composed of amoving target and N-1 agents with the numbers to be 1 to N in sequence. Each agent in the multi-agent system has a target tracking capability. Considering the diversity of system execution tasks and the limitation of the number of formation members, only one agent performs the target tracking task at one moment, the agent is called a tracking main agent, and other agents perform other tasks. Through local information interaction between neighbor agents, the subsystem (1-2) can track the state of the target. The auto-disturbance control theory is used to solve the disturbance suppression problem, collision avoidance control is realized based on a potential field method, and a topology switching strategy is adopted to ensure target tracking continuity.

Description

technical field [0001] The invention belongs to the field of multi-agent system formation tracking control, and in particular relates to a multi-agent anti-disturbance time-varying formation tracking and collision avoidance control method under the obstruction of obstacles. Background technique [0002] Coordinated control is widely used in social production and national defense construction, such as multi-source information collection, moving target monitoring, and multi-dimensional coordinated strikes. As an important branch of cooperative control, formation control has gradually become a research hotspot of scholars at home and abroad. The multi-agent system needs to form and maintain the desired formation formation when performing tasks. According to the task requirements, the desired formation formation may change with time. [0003] In addition to formation control, most multi-agent collaborative tasks also require the formation to track the desired reference trajecto...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0291
Inventor 席建祥姚辉王乐王成杨小冈胡来红
Owner ROCKET FORCE UNIV OF ENG
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