Grouping formation tracking control method and system for distributed heterogeneous cluster system

A technology of heterogeneous clustering and tracking control, applied in non-electric variable control, control/regulation system, three-dimensional position/channel control and other directions, can solve the problems of influence, transmission congestion, interference with heterogeneous clustering system group formation tracking control, etc.

Active Publication Date: 2021-06-18
BEIHANG UNIV
View PDF6 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In a complex task environment, due to the change of the relative position between cluster individuals, the communication topology changes; due to the limitations of physical factors and location obstacles, transmission congest

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Grouping formation tracking control method and system for distributed heterogeneous cluster system
  • Grouping formation tracking control method and system for distributed heterogeneous cluster system
  • Grouping formation tracking control method and system for distributed heterogeneous cluster system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0067] The purpose of the present invention is to provide a distributed heterogeneous cluster system grouping formation tracking control method and system that has the characteristics of high control precision and high communication efficiency for heterogeneous clusters and can be carried out under the constraints of communication failures.

[0068] In order to make the above objects, features and advantages of the present invention more comprehensible, the pre...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a distributed heterogeneous cluster system grouping formation tracking control method and system. The distributed heterogeneous cluster system grouping formation tracking control method and system are provided. Firstly, a bounded initial state of a heterogeneous cluster is determined according to a time-varying vector and state data; determining expected grouping according to the bounded initial state; constructing a formation tracking control protocol under the communication fault according to the second state data and the state estimation value, so that the heterogeneous cluster topology structure can be switched at will, and it can be guaranteed that the control method is accurately and rapidly implemented under the constraint of communication faults; besides, the conservative property is not increased while the control calculation efficiency is greatly improved.

Description

technical field [0001] The present invention relates to the technical field of collaborative control of heterogeneous cluster systems, and in particular to a method and system for group formation tracking control of heterogeneous cluster systems under communication failures. Background technique [0002] The collaborative control of swarm systems has shown great application potential in many fields including aerospace, such as multi-UAV cooperative reconnaissance, multi-missile saturation attack, multi-micro-nano satellite deep space exploration, and multi-robot cooperative handling. Heterogeneous cluster systems can make up for the lack of control of homogeneous cluster systems through reasonable collocation, so as to efficiently complete collaborative tasks. [0003] For example, an unmanned surface vehicle and multiple small UAVs perform collaborative information collection tasks. The unmanned surface vehicle provides a long-distance flight for small UAVs, and also serves...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/10G05D1/02
CPCG05D1/104G05D1/0206
Inventor 董希旺周诗钰于江龙化永朝韩亮任章
Owner BEIHANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap