Air multi-agent distributed elliptical surround guidance method with space-time decoupling characteristic

Abstract

The invention discloses an air multi-agent distributed elliptical surround guidance method with a space-time decoupling characteristic, and relates to the field of multi-agent cooperative path following control. The method comprises the following steps of: firstly, assigning implicit description of an elliptical reference path under a given inertial system to a virtual leader in a cluster system according to an aerial multi-agent distributed periodic target / region observation task scenario, and designing a forward speed and an angular speed of the virtual leader; secondly, in order to ensure that the following agent is asymptotically converged to an elliptical reference orbit and maintains surrounding flight, establishing a composite function containing a collaborative consistency error and a yaw angle tracking error, and calculating the angular velocity of the following agent to realize a preset space task; and finally, introducing a projection arc length calculation rule under a polar coordinate system to achieve the effect of equal-arc-length formation of the following agents along the elliptical orbit and keeping forward speed synchronization, designing the forward speed of the following agents, and realizing a preset dynamic task. The problem that multiple agents are uniformly dispersed in the elliptical orbit at a constant speed is successfully solved.

Description

technical field [0001] The invention relates to the field of multi-agent cooperative path following control, specifically an air multi-agent distributed elliptical surround guidance method with the characteristics of time-space decoupling, which solves the problem of air multi-agents facing continuous and periodic earth observation tasks Coordinated formation control problem. Background technique [0002] In recent years, due to the limited perception, communication, computing and maneuvering capabilities of a single aerial agent, the deployment of aerial multi-agents to perform diverse and precise tasks has become an important part of autonomous unmanned system research. With the help of a reasonable cooperative controller design, the multi-agents in the air can cooperate to achieve the expected cluster control behavior, which can help to improve the satisfaction of task completion and enhance the self-adaptive ability in complex environments. Therefore, whether it is in t...

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Problems solved by technology

[0004] In order to solve the problem of unnecessary maneuvering behavior of following agents and easy saturation of the controller in the cooperative trajectory tracking control framework, the present invention overcomes the problem that the forward speed of all following agents tending to be consistent under the guidance of elliptical orbit cannot be guaranteed in the existing research , providing an aerial multi-agent distributed elliptical surround guidance method with the characteristics of time-space decoupling

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