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.
CN112987790AActive Publication Date: 2021-06-18BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
BEIHANG UNIV
Publication Date
2021-06-18

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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.
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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

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