A platoon tracking control method and system
By defining neighbor error and constructing an adaptive controller, the problem of time-varying formation tracking control in heterogeneous nonlinear multi-agent systems is solved, and robust H-infinite time-varying formation tracking in complex environments is achieved, improving the system's stability and anti-interference capability.
Patent Information
- Application Number
- CN202210941087.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-08-08
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2042-08-08
AI Technical Summary
Existing technologies cannot achieve time-varying formation tracking control in heterogeneous nonlinear multi-agent systems with external interference and unknown leader parameters. In particular, in UAV systems, stable formation tracking control cannot be effectively constructed due to uncertainties in communication parameters and interference errors.
A formation tracking control method is designed. By defining neighbor error, discontinuous and continuous controllers are constructed. Adaptive parameters and nonlinear functions are used to suppress the influence of unknown inputs and parameter uncertainties of the lead UAV, so as to achieve time-varying formation tracking.
Robust H-infinite time-varying formation tracking control was achieved in complex environments, improving the system's stability and anti-interference capability, and is suitable for heterogeneous nonlinear multi-agent systems.
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Figure CN115268453B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of formation control, in particular to a formation tracking control method and system. BACKGROUND
[0002] The formation control of unmanned aerial vehicle system is a hot spot in the field of control at present, which has been widely applied in the field of scientific research and engineering. The cooperative formation of unmanned aerial vehicles can be used for exploration of a wide area, and the dense attack of unmanned aerial vehicles can be realized by relying on a large unmanned aerial vehicle system; the cooperative formation of satellites can realize corresponding detection and operation by low-cost small satellites relying on the different functions of different satellites; the cooperative formation of multiple missiles is helpful to improve the penetration probability of enemy anti-missile systems.
[0003] The main goal of formation control is to build a suitable control protocol to enable a multi-agent system with communication to meet a predefined formation configuration. Traditional formation control methods have been verified in the field of robots, including behavior-based, virtual structure and leader-follower forms. However, these methods have their limitations, which affect the performance of the entire multi-agent system. Among them, the virtual structure strategy is difficult to control the distributed structure of the agent system, and the behavior-based method is difficult to build an accurate model to analyze the stability of the system, and for the leader-follower strategy, once the leader fails, the entire system will collapse.
[0004] With the development of consensus control theory, due to the strong robustness, low computational complexity and good stability of distributed consensus theory itself, researchers have applied it to the formation control of multi-agent. At present, the formation control method based on consensus has great advantages, which has the characteristics of distributed control, can reduce the communication pressure, and has good scalability, robustness and adaptability. At present, there are many detailed formation control methods based on consensus theory, but the actual environment is complex and changeable. In the actual environment, the model of the unmanned aerial vehicle is nonlinear, sometimes heterogeneous unmanned aerial vehicles are needed to form a system to perform formation tracking tasks, and there are interference errors between agents in the formation system, and the parameters of the communication between unmanned aerial vehicles have uncertainties, so it is impossible to realize time-varying formation tracking control. SUMMARY
[0005] The purpose of the present application is to provide a formation tracking control method and system to solve the problem of being unable to realize time-varying formation tracking control.
[0006] To achieve the above purpose, the present application provides the following scheme:
[0007] A formation tracking control method, comprising:
[0008] Defining a neighbor error of formation tracking;
[0009] determining a first controller parameter according to the neighbor error for any follower UAV; the first controller parameter comprises formation tracking compensation, a plurality of first time-varying adaptive parameters, a first nonlinear function for suppressing unknown input of the leader UAV, and a first nonlinear function for suppressing influence of unknown parameter uncertainty;
[0010] constructing a non-continuous controller according to the first controller parameter and the neighbor error; the non-continuous controller is used for controlling time-varying formation tracking of the follower UAV.
[0011] Optionally, the constructing a non-continuous controller according to the first controller parameter and the neighbor error further comprises:
[0012] determining a second controller parameter according to the neighbor error for any follower UAV; the second controller parameter comprises formation tracking compensation, a plurality of second time-varying adaptive parameters, a second linear function for suppressing unknown input of the leader UAV, and a second linear function for suppressing influence of unknown parameter uncertainty;
[0013] constructing a continuous controller according to the second controller parameter and the neighbor error; the continuous controller is used for preventing the control result of the non-continuous controller from being dithered.
[0014] Optionally, the defining the neighbor error of formation tracking comprises:
[0015] the neighbor error of formation tracking is defined by a formula i (t) is the neighbor error, w i0 is a communication weight between the agent and the leader, x i (t) is a state vector of the agent, h i (t) is a formation reference vector of the agent, x0(t) is a state quantity of the leader, N is a total number of agents, j is a number of the agent, w ij is an (i, j) item in a Laplace matrix, x j (t) is a state vector of the jth agent, h j (t) is a formation reference vector of the jth agent.
[0016] Optionally, the determining a first controller parameter according to the neighbor error for any follower UAV comprises:
[0017] the formation tracking compensation is determined by a formula i (t) is the formation tracking compensation, is a generalized inverse matrix of a constant matrix B, A is a system matrix, is a first derivative of the formation reference vector of the ith agent;
[0018] The adaptive update law of the plurality of first time-varying adaptive parameters is:
[0019]
[0020]
[0021]
[0022] wherein, and are first time-varying adaptive parameters, B T is a transpose matrix of a constant matrix B, and P is a positive definite matrix, is an error vector of the i-th agent;
[0023] The first nonlinear function of the unknown input of the suppression leader UAV is determined by using a formula wherein, g 1i (t) is the first nonlinear function of the unknown input of the suppression leader UAV.
[0024] The first nonlinear function of the influence of the unknown parameter uncertainty is determined by using a formula wherein, g 2i (t) is the first nonlinear function of the influence of the unknown parameter uncertainty.
[0025] Optionally, the non-continuous controller is constructed according to the first controller parameter and the neighbor error, and specifically includes:
[0026] The non-continuous controller is constructed by using a formula u i (t) = v i (t) - b 1i (t) g 1i (t) - c 1i (t) g 2i (t) - d 1i (t) B T Pξ i (t).
[0027] Optionally, for any follower UAV, the second controller parameter is determined according to the neighbor error, and specifically includes:
[0028] The adaptive update law of the plurality of second time-varying adaptive parameters is:
[0029]
[0030]
[0031]
[0032] wherein, are updated second time-varying adaptive parameters, b 2i (t), c 2i (t), d 2i (t) are second time-varying adaptive parameters, η 1i , η 2i and η 3i are positive constants, and a(t) is a function satisfying that the integral is bounded at any time.
[0033] A second linear function of suppressing unknown input of the leader UAV is determined by using a formula wherein, g 3i (t) is a second nonlinear function of suppressing unknown input of the leader UAV.
[0034] A second linear function of unknown parameter uncertainty influence is determined by using a formula wherein, g 4i (t) is a first nonlinear function of unknown parameter uncertainty influence.
[0035] Optionally, the continuous controller is constructed according to the second controller parameters and the neighbor error, and specifically includes:
[0036] The continuous controller is constructed by using a formula u i '(t) = v i (t) - (g 3i (t) + g 4i (t) + d 2i (t))B T Pξ i (t); wherein, u i '(t) is the continuous controller.
[0037] An formation tracking control system includes:
[0038] A neighbor error definition module is configured to define a neighbor error of formation tracking.
[0039] A first controller parameter determination module is configured to determine, for any follower UAV, a first controller parameter according to the neighbor error; the first controller parameter includes formation tracking compensation, a plurality of first time-varying adaptive parameters, a first nonlinear function of suppressing unknown input of the leader UAV, and a first nonlinear function of unknown parameter uncertainty influence.
[0040] A non-continuous controller construction module is configured to construct a non-continuous controller according to the first controller parameter and the neighbor error; the non-continuous controller is used to control time-varying formation tracking of the follower UAV.
[0041] Optionally, further comprising:
[0042] A second controller parameter determination module is configured to determine, by the non-continuous controller construction module, second controller parameters according to the neighbor error for any follower unmanned aerial vehicle after the non-continuous controller is constructed according to the first controller parameters and the neighbor error; the second controller parameters include formation tracking compensation, a plurality of second time-varying adaptive parameters, a second linear function for suppressing unknown input of the leader unmanned aerial vehicle, and a second linear function for suppressing influence of unknown parameter uncertainty.
[0043] A continuous controller construction module is configured to construct a continuous controller according to the second controller parameters and the neighbor error; the continuous controller is used to prevent the control result of the non-continuous controller from being dithered.
[0044] Optionally, the neighbor error definition module specifically comprises:
[0045] A neighbor error definition unit is configured to define the neighbor error of the formation tracking by using the formula ; wherein, ξ i (t) is the neighbor error, w i0 is the communication weight between the agent and the leader, x i (t) is the state vector of the agent, h i (t) is the formation reference vector of the agent, x0(t) is the state quantity of the leader, N is the total number of agents, j is the number of agents, w ij is the (i, j) item in the Laplace matrix, x j (t) is the state vector of the jth agent, h j (t) is the formation reference vector of the jth agent.
[0046] According to the specific embodiments of the present application, the following technical effects are provided: the present application provides a formation tracking control method and system, aiming at the robust H-infinite time-varying formation tracking problem of a heterogeneous nonlinear multi-agent system with external disturbance and unknown leader parameters, a non-continuous function is designed to suppress the influence of unknown input of the leader of the multi-agent system, thereby constructing a non-continuous controller to realize time-varying formation tracking control. BRIEF DESCRIPTION OF DRAWINGS
[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0048] Figure 1A flow chart of the platoon tracking control method provided by the present application is shown in FIG.
[0049] Figure 2 A structure diagram of the platoon tracking control system provided by the present application is shown in FIG.
[0050] Figure 3 A topological interaction relationship diagram between the intelligent agents provided by the present application is shown in FIG.
[0051] Figure 4 A b 1i (t) curve diagram provided by the present application is shown in FIG.
[0052] Figure 5 A c 1i (t) curve diagram provided by the present application is shown in FIG.
[0053] Figure 6 A e ij (t) diagram provided by the present application is shown in FIG.
[0054] Figure 7 A r i (t) curve diagram provided by the present application is shown in FIG.
[0055] Figure 8 A d 1i (t) curve diagram provided by the present application is shown in FIG.
[0056] Figure 9 A 5-agent system simulation state diagram provided by the present application is shown in FIG. DETAILED DESCRIPTION
[0057] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.
[0058] The purpose of the present application is to provide a platoon tracking control method and system, which can realize time-varying platoon tracking control.
[0059] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.
[0060] Figure 1 A flow chart of the platoon tracking control method provided by the present application is shown in FIG. Figure 1 The platoon tracking control method comprises the following steps.
[0061] Step 101: defining a neighbor error of platoon tracking.
[0062] The neighbor error for formation tracking is defined, and specifically includes:
[0063] The neighbor error for formation tracking is defined by the formula The neighbor error for formation tracking is defined by the formula; wherein ξ i (t) is the neighbor error, w i0 is the communication weight between the agent and the leader, x i (t) is the state vector of the agent, h i (t) is the formation reference vector of the agent, x0(t) is the state quantity of the leader, N is the total number of agents, j is the number of agents, w ij is the (i, j)th item in the Laplace matrix, x j (t) is the state vector of the jth agent, h j (t) is the formation reference vector of the jth agent.
[0064] Step 102: For any follower UAV, a first controller parameter is determined according to the neighbor error. The first controller parameter includes formation tracking compensation, a plurality of first time-varying adaptive parameters, a first nonlinear function for suppressing unknown inputs of the leader UAV, and a first nonlinear function for suppressing the influence of unknown parameter uncertainty.
[0065] Step 103: A non-continuous controller is constructed according to the first controller parameter and the neighbor error; the non-continuous controller is used to control the time-varying formation tracking of the follower UAV.
[0066] The step 103 further includes: for any follower UAV, a second controller parameter is determined according to the neighbor error; the second controller parameter includes formation tracking compensation, a plurality of second time-varying adaptive parameters, a second linear function for suppressing unknown inputs of the leader UAV, and a second linear function for suppressing the influence of unknown parameter uncertainty; a continuous controller is constructed according to the second controller parameter and the neighbor error; the continuous controller is used to prevent the control result of the non-continuous controller from being dithered.
[0067] The step of determining, for any follower UAV, a first controller parameter according to the neighbor error specifically includes: the formation tracking compensation is determined by the formula ; wherein v i (t) is the formation tracking compensation, which is determined by the expected time-varying formation information, is the generalized inverse matrix of the constant matrix B, A is the system matrix, is the first-order derivative of the formation reference vector of the ith agent;
[0068] The adaptive update law of the plurality of first time-varying adaptive parameters is:
[0069]
[0070]
[0071]
[0072] wherein, and are the first time-varying adaptive parameters, B T is the transpose matrix of the constant matrix B, and P is a positive definite matrix, is the transpose of the neighbor error vector of the ith agent;
[0073] The first nonlinear function of the unknown input of the suppression leader UAV is determined by using the formula wherein, g 1i (t) is the first nonlinear function of the unknown input of the suppression leader UAV.
[0074] The first nonlinear function of the influence of the unknown parameter uncertainty is determined by using the formula wherein, g 2i (t) is the first nonlinear function of the influence of the unknown parameter uncertainty.
[0075] The step 103 specifically comprises: constructing a non-continuous controller by using the formula u i (t) = v i (t) - b 1i (t)g 1i (t) - c 1i (t)g 2i (t) - d 1i (t)B T Pξ i (t).
[0076] The second controller parameter is determined according to the neighbor error for any follower UAV, specifically comprising: the adaptive update law of the plurality of second time-varying adaptive parameters is
[0077]
[0078]
[0079]
[0080] wherein, are the updated second time-varying adaptive parameters, b 2i (t), c 2i (t), d 2i (t) are the second time-varying adaptive parameters, η 1i , η 2i , and η3i are all normal numbers, and alpha (t) is a function satisfying that the integral is bounded within any time.
[0081] The second linear function of the unknown parameter uncertainty influence is determined by using the formula The second linear function of the unknown input of the leader UAV is determined; wherein g 3i (t) is the second nonlinear function of the unknown input of the leader UAV.
[0082] The second linear function of the unknown parameter uncertainty influence is determined by using the formula The second linear function of the unknown parameter uncertainty influence is determined; wherein g 4i (t) is the first nonlinear function of the unknown parameter uncertainty influence.
[0083] The continuous controller is constructed according to the second controller parameter and the neighbor error, and specifically includes: the continuous controller is constructed by using the formula u i '(t) = v i (t) - (g 3i (t) + g 4i (t) + d 2i (t))B T Pxi i (t) ; wherein u i '(t) is the continuous controller.
[0084] Based on the technical scheme of the application, the multi-agent (UAV model) selected by the application is a kind of heterogeneous nonlinear multi-agent system, and the model of the follower UAV i can be expressed as follows:
[0085]
[0086] Wherein, is the model of the follower UAV i, respectively represent the state of the follower UAV i, is the control input of the follower UAV i;B is a constant matrix, and rank (B) = m, Delta A i is the uncertainty of time-varying unknown parameters, A is a system matrix, is an n*n real matrix; represents the inherent nonlinear dynamic model of the follower UAV; mu i (t) represents unknown external disturbance, and this part is square integrable for any t is a time variable, is a real number field, and m is a positive integer, is an n-dimensional real number field, is an m-dimensional real number field.
[0087]
[0088] where τ is the integral variable and t is distinguished from t, and the dynamics model of the leader UAV is given as follows:
[0089]
[0090] where, denotes the state vector of the leader, denotes the inherent nonlinear dynamics model of the leader UAV; denotes the continuous bounded external input of the leader;‖u0(t)‖ ∞ b, where b is a normal number, which is completely unknown for any follower.
[0091] The above model of the follower UAV i is a heterogeneous nonlinear multi-agent system with parameter uncertainty external disturbance and unknown input of the leader. The model of each agent is heterogeneous in nonlinear dynamics model, external disturbance and parameter uncertainty.
[0092] The above model of the follower UAV i is a heterogeneous nonlinear multi-agent system (MAS) with external disturbance, which needs to achieve robust H ∞ Time-varying formation tracking (TVFT) needs to satisfy the formation tracking error e i (t) (i = 1, 2, …, N) for any has
[0093]
[0094] where 0 < r, r represents the disturbance attenuation level, e ij (t) (j = 1, …, n) represents the formation tracking error of the i-th agent and the j-th agent, a is a small normal number, N is the number of agents, τ is the integral variable, and t is distinguished from t.
[0095] On the basis of the above model, the main work is as follows:
[0096] Firstly, an adaptive discrete control protocol is constructed based on the information of adjacent agents. Then an algorithm containing three steps is proposed to determine the distributed adaptive robust H ∞ TVFT. With the help of Lyapunov stability theory, it has been proved that the heterogeneous nonlinear multi-agent system can achieve robust H ∞ TVFT under the given control protocol under the condition of unknown input of the leader.
[0097] For the follower i, let ξi (t) denotes the neighbor error of formation tracking, and ξ i The definition of v
[0098]
[0099] Based on the field information, a distributed adaptive robust H ∞ The TVFT control protocol design (i.e., non-continuous controller) is as follows:
[0100] u i (t) = v i (t) - b 1i (t)g 1i (t) - c 1i (t)g 2i (t) - d 1i (t)B T Pξ i (t),
[0101] where v is the formation tracking compensation term, determined by the desired time-varying formation information, b 1i (t), c 1i (t), d 1i (t) denote time-varying adaptive parameters, constructed after the adaptive update law, and P denotes a positive definite matrix, designed as follows:
[0102]
[0103]
[0104] With the help of neighboring agent information, a distributed adaptive robust H ∞ TVFT control protocol is proposed to study the robust H ∞ TVFT problem for the leader UAV with unknown inputs. The adaptive control strategy proposed in this section does not require any global information about the topology, and the method of suppressing the leader UAV input does not require the follower UAV to know the upper limit of the leader UAV control input.
[0105] Let where and denote nonsingular matrices, where and where I m is an m-dimensional identity matrix, is an m*n order real field, T is the transpose symbol, Z is an n order matrix, B is the constant matrix mentioned above, is the generalized inverse matrix of B, used to construct the formation tracking compensation v i (t), The robust H ∞ Feasibility condition of TVFT.
[0106] The controller is a control protocol, which is an algorithm formula for specific models to control the models. Different controllers are constructed according to different control targets and control environments. The innovative method proposed in the application is a control scheme proposed for the above problems, that is, a continuous controller of robust H infinite time-varying formation tracking control. In algorithm 1, the specific parameters of the non-continuous controller (control protocol) are solved, and in algorithm 2, the specific parameters of the continuous controller are solved. The continuous controller in algorithm 2 is used to solve the problem that the non-continuous controller in algorithm 1 will cause the control result to have jitter.
[0107] Algorithm 1: For the follower unmanned aerial vehicle i, the control protocol can be performed through the following steps:
[0108] Check if the robust H ∞ Feasibility condition of TVFT.
[0109]
[0110] If the feasibility condition is met, the calculation can continue; otherwise, the required formation reference function is not feasible under the control, and the calculation is stopped.
[0111] Formation tracking compensation v i (t) can be given by the formula: Where v i (t) is determined in the control protocol.
[0112] For the follower unmanned aerial vehicle i, the time-varying adaptive parameters b 1i (t), c 1i (t) and d 1i (t) can be defined as follows:
[0113]
[0114]
[0115]
[0116] Where i = 1, 2, …, N, b 1i (0), c 1i (0) and d 1i (0) are all normal numbers.
[0117] g 1i (t) and g 1i(t) (i = 1, 2, …, N) is discontinuous, which may cause the chattering of the constructed adaptive controller. Therefore, in order to solve this problem, the present application proposes the following continuous controller of robust H-infinity time-varying formation tracking control:
[0118] u i (t) = v i (t) - (g 3i (t) + g 4i (t) + d 2i (t))B T Pξ i (t)
[0119] wherein is a formation tracking compensation term, determined by the desired time-varying formation information, b 1i (t), c 1i (t), d 1i (t) represent time-varying adaptive parameters, constructed after the adaptive update law, and P represents a positive definite matrix, defined as follows:
[0120]
[0121]
[0122] wherein b 2i (t), c 2i (t) represent time-varying adaptive parameters, the update law of which is constructed by the following algorithm, wherein 0 < α(t) satisfies the following condition:
[0123]
[0124] Algorithm 1 gives how to select the parameters of the non-continuous controller of robust H-infinity time-varying formation tracking control, but the control result of the controller has chattering, therefore, the continuous controller of robust H-infinity time-varying formation tracking control is designed, and Algorithm 2 gives how to select the parameters of the continuous controller.
[0125] Algorithm 2: for any follower, the parameters of the continuous controller can be defined as follows:
[0126] (1) check whether the feasibility condition of robust TVFT is satisfied:
[0127]
[0128] If the feasibility condition is satisfied, the calculation can continue; otherwise, the formation reference function required is not feasible under this control, and the calculation is stopped.
[0129] (2) the formation tracking compensation v i (t) can be given by the formula: where v i (t) is determined in the control protocol.
[0130] (3) For any follower, the update law of the time-varying adaptive parameter is defined as follows:
[0131]
[0132]
[0133]
[0134] where i is a positive integer, and the remaining unknown parameters are normal numbers
[0135] Figure 2 The structure diagram of the platoon tracking control system provided by the application is shown in Figure 2 A platoon tracking control system comprises:
[0136] A neighbor error definition module 201 is configured to define a neighbor error of platoon tracking.
[0137] A first controller parameter determination module 202 is configured to determine, for any follower, a first controller parameter according to the neighbor error; the first controller parameter comprises platoon tracking compensation, a plurality of first time-varying adaptive parameters, a first nonlinear function for suppressing unknown input of a leading UAV, and a first nonlinear function for suppressing influence of unknown parameter uncertainty.
[0138] A non-continuous controller construction module 203 is configured to construct a non-continuous controller according to the first controller parameter and the neighbor error; the non-continuous controller is used to control time-varying platoon tracking of the follower UAV.
[0139] The application further comprises: a second controller parameter determination module configured to, after the non-continuous controller construction module constructs a non-continuous controller according to the first controller parameter and the neighbor error, determine, for any follower, a second controller parameter according to the neighbor error; the second controller parameter comprises platoon tracking compensation, a plurality of second time-varying adaptive parameters, a second linear function for suppressing unknown input of a leading UAV, and a second linear function for suppressing influence of unknown parameter uncertainty; and a continuous controller construction module configured to construct a continuous controller according to the second controller parameter and the neighbor error; the continuous controller is used to prevent the control result of the non-continuous controller from being dithered.
[0140] The neighbor error definition module 201 specifically comprises:
[0141] A neighbor error definition unit is configured to define a neighbor error of platoon tracking by using a formula ; wherein, ξ i(t) is the neighbor error, w i0 is the communication weight between the agent and the leader, x i (t) is the state vector of the agent, h i (t) is the formation reference vector of the agent, x0(t) is the state quantity of the leader, N is the total number of agents, j is the number of agents, w ij is the (i, j)th element of the Laplacian matrix, x j (t) is the state vector of the jth agent, h j (t) is the formation reference vector of the jth agent.
[0142] The following is an example of numerical simulation, which verifies a heterogeneous nonlinear multi-agent system containing 7 agents. Figure 3 is the topological interaction relationship diagram between the agents provided by the application, as Figure 3 shown. The dynamic model of the leader and the follower is the dynamic model shown above. Wherein and wherein, i = 1, 2, …, 6. Figure 4 is the b 1i (t) curve diagram provided by the application, Figure 5 is the c li (t) curve diagram provided by the application; Figure 6 is the e ij (t) diagram provided by the application; Figure 7 is the r i (t) curve diagram provided by the application; Figure 8 is the d li (t) curve diagram provided by the application; Figure 9 is the 5-agent system simulation state diagram provided by the application, wherein, r i (t) is the adaptive parameter of the controller.
[0143] The above is the formation tracking of the heterogeneous nonlinear multi-agent system under the adaptive control protocol when the leader unknown input and the disturbance exist under the complex constraint condition. It can be seen that the system successfully converges in the simulation time of 10S, and compared with other methods, the application has good stability in a more realistic simulation environment
[0144] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same and similar parts between each embodiment can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the related parts can be referred to the method part.
[0145] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as the limitation of the present application.
Claims
1. A platoon tracking control method characterized by, The method comprises: defining a neighbor error for formation tracking; determining, for any follower unmanned aerial vehicle, first controller parameters according to the neighbor error; the first controller parameters comprise formation tracking compensation, a plurality of first time-varying adaptive parameters, a first nonlinear function for suppressing unknown input of a leader unmanned aerial vehicle, and a first nonlinear function for suppressing influence of unknown parameter uncertainty; Using the formula determining the platoon tracking compensation; wherein v i (t) is a platoon tracking compensation, is the generalized inverse matrix of constant matrix B, A is the system matrix, is the first derivative of the platoon reference vector of the i th agent; the adaptive update law of the plurality of first time-varying adaptive parameters is: wherein, and are first time-varying adaptive parameters, B T is the transpose matrix of constant matrix B, P is a positive definite matrix, is the transpose of the neighbor error vector of the i-th agent. determined using the formula a first nonlinear function of the unknown input of the suppression pilotless aircraft is determined; wherein g 1i (t) is the first nonlinear function of the unknown input of the suppression pilotless aircraft; Using formula The first nonlinear function that determines the influence of the uncertainty of the unknown parameters; g 2i (t) is the first nonlinear function affected by the uncertainty of the unknown parameters; constructing a non-continuous controller according to the first controller parameters and the neighbor error; the non-continuous controller is used to control time-varying formation tracking of the follower unmanned aerial vehicle; and a non-continuous function is designed to suppress influence of unknown input of a leader of a multi-agent system.
2. The platoon tracking control method of claim 1, wherein, the constructing of the non-continuous controller according to the first controller parameters and the neighbor error further comprises: determining, for any follower unmanned aerial vehicle, second controller parameters according to the neighbor error; the second controller parameters comprise formation tracking compensation, a plurality of second time-varying adaptive parameters, a second linear function for suppressing unknown input of a leader unmanned aerial vehicle, and a second linear function for suppressing influence of unknown parameter uncertainty; constructing a continuous controller according to the second controller parameters and the neighbor error; the continuous controller is used to prevent the control result of the non-continuous controller from being dithered.
3. The platoon tracking control method of claim 2, wherein, the neighbor error for formation tracking comprises: The neighbor error of formation tracking is defined as where ξ i (t) is the neighbor error, w i0 is the communication weight between the agent and the leader, x i (t) is the state vector of the agent, h i (t) is the formation reference vector of the agent, x0(t) is the state of the leader, N is the total number of agents, j is the number of agents, w ij is the (i, j)th element of the Laplacian matrix, x j (t) is the state vector of the jth agent, h j (t) is the formation reference vector of the jth agent.
4. The platoon tracking control method of claim 3, wherein, the constructing of the non-continuous controller according to the first controller parameters and the neighbor error comprises: Using the formula u i (t) = v i (t) - b 1i (t) g 1i (t) - c 1i (t) g 2i (t) - d 1i (t) B T Pξ i (t) to construct a non-continuous controller.
5. The platoon tracking control method of claim 4, wherein, the determining of the second controller parameters according to the neighbor error comprises: the adaptive update law of the plurality of second time-varying adaptive parameters is: wherein are updated second time-varying adaptive parameters, b 2i (t), c 2i (t), d 2i (t) are second time-varying adaptive parameters, η 1i , η 2i and η 3i are positive constants, and a(t) is a function satisfying that the integral is bounded at any time. A second linear function of the unknown input of the lead UAV is determined using the formula where g 3i (t) is a second nonlinear function of the unknown input of the lead UAV. Using formula The second linear function that determines the influence of the uncertainty of the unknown parameters; where g 4i (t) is the first nonlinear function affected by the uncertainty of the unknown parameters.
6. The platoon tracking control method of claim 5, wherein, the constructing of the continuous controller according to the second controller parameters and the neighbor error comprises: A continuous controller is constructed using the formula u i '(t) = v i (t) - g 3i (t) + g 4i (t) + d 2i (t))B T Pξ i (t) wherein u i '(t) is the continuous controller.
7. A platoon tracking control system characterized by, The formation tracking control system is applied to the formation tracking control method in any one of claims 1-6, and the formation tracking control system comprises: a neighbor error definition module configured to define a neighbor error for formation tracking; a first controller parameter determination module configured to determine, for any follower unmanned aerial vehicle, first controller parameters according to the neighbor error; the first controller parameters comprise formation tracking compensation, a plurality of first time-varying adaptive parameters, a first nonlinear function for suppressing unknown input of a leader unmanned aerial vehicle, and a first nonlinear function for suppressing influence of unknown parameter uncertainty; a non-continuous controller construction module configured to construct a non-continuous controller according to the first controller parameters and the neighbor error; the non-continuous controller is used to control time-varying formation tracking of the follower unmanned aerial vehicle.
8. The platoon tracking control system of claim 7, wherein, Further comprising: a second controller parameter determination module configured to, after the non-continuous controller construction module constructs the non-continuous controller according to the first controller parameters and the neighbor error, determine, for any follower unmanned aerial vehicle, second controller parameters according to the neighbor error; the second controller parameters comprise formation tracking compensation, a plurality of second time-varying adaptive parameters, a second linear function for suppressing unknown input of a leader unmanned aerial vehicle, and a second linear function for suppressing influence of unknown parameter uncertainty; a continuous controller construction module configured to construct a continuous controller according to the second controller parameters and the neighbor error; The continuous controller is used for preventing the control result of the non-continuous controller from being dithered.
9. The platoon tracking control system of claim 8, wherein, The neighbor error definition module specifically comprises: a neighbor error defining unit configured to define a neighbor error of the platoon tracking by using a formula wherein ξ i (t) is the neighbor error, w i0 is a communication weight between the agent and the leader, x i (t) is a state vector of the agent, h i (t) is a platoon reference vector of the agent, x0(t) is a state quantity of the leader, N is a total number of the agents, j is a number of the agent, w ij is an (i, j)th item in a Laplacian matrix, x j (t) is a state vector of the jth agent, h j (t) is a platoon reference vector of the jth agent.