Affine formation maneuvering control method of heterogeneous cluster system and related device

Abstract

The invention discloses an affine formation maneuvering control method for a heterogeneous cluster system and a related device, and relates to the technical field of cluster cooperative control, and the method comprises the steps: obtaining the state information estimation values of all leaders updated by a target follower at the current moment according to the communication relation of the target follower and a distributed observer, according to the state information of the target follower at the current moment and a preset affine formation maneuvering control protocol, control input of the target follower at the current moment is obtained through calculation; according to the state information of the target follower at the current moment, the control input of the target follower at the current moment and a preset dynamic model, position information of the target follower at the next moment is obtained through calculation; and according to the position information of the target follower at the next moment, an affine formation maneuvering control instruction at the current moment is determined, so that the expected formation configuration of the follower can be achieved when the control instruction is executed.

Description

Technical Field

[0001] The present application relates to the technical field of cluster cooperative control, and particularly to an affine formation maneuver control method and related device for a heterogeneous cluster system. Background Art

[0002] With the rapid development of automation technology and artificial intelligence, formation control has been increasingly widely applied in multiple fields, including unmanned aerial vehicle swarms, autonomous driving vehicle fleets, robot cooperation systems, etc. The core of formation control lies in coordinating the behaviors of multiple individuals (such as unmanned aerial vehicles, vehicles, or robots) to achieve overall efficient, flexible, and scalable operations. Formation control is generally divided into two main sub-problems: formation shape control and formation maneuver control. Formation shape control focuses on how to form and maintain a predetermined formation configuration, while formation maneuver control emphasizes achieving high mobility of the formation in a complex environment, such as avoiding obstacles or passing through narrow channels. Although formation shape control can achieve changes in the formation through dynamic path planning, it often lacks sufficient mobility in practical engineering applications, limiting its applicability in complex environments. In contrast, formation maneuver control is more common in practical engineering due to its high mobility, especially in scenarios that require rapid response and flexible adjustment.

[0003] In existing formation control research, affine formation control is a cooperative control method that dynamically adjusts the cluster formation shape and motion trajectory through affine transformation. As an important control method, it has been widely studied in homogeneous cluster systems. However, for heterogeneous cluster systems, especially when the leader is a non-autonomous system, the research on affine formation control is still relatively limited. A heterogeneous cluster system consists of different types of individuals, which differ in dynamic characteristics, sensor capabilities, communication capabilities, etc., increasing the complexity of formation control. In addition, the introduction of a non-autonomous leader further exacerbates this problem because the behavior of a non-autonomous leader is not externally controlled but determined by its own dynamic characteristics. This complexity makes it challenging for heterogeneous cluster systems to achieve affine formation maneuver control. Therefore, for a heterogeneous cluster system with a non-autonomous leader, studying its output affine formation maneuver control method has important theoretical significance and practical application value. Summary of the Invention

[0004] The purpose of the present application is to provide an affine formation maneuver control method and related device for a heterogeneous cluster system, which can achieve affine formation maneuver control for a heterogeneous cluster system with a non-autonomous leader.

[0005] To achieve the above objective, the present application provides the following solutions:

[0006] In a first aspect, the present application provides an affine formation maneuver control method for a heterogeneous cluster system, and each follower can execute the affine formation maneuver control method; wherein, the affine formation maneuver control method includes:

[0007] Determine, according to the communication relationship of a target follower and a distributed observer, an estimated value of the updated state information of all leaders at the current moment for the target follower; the target follower is any one of the followers;

[0008] Calculate, according to the state information of the target follower at the current moment, the estimated value of the updated state information of all leaders at the current moment for the target follower, and a preset affine formation maneuver control protocol, the control input of the target follower at the current moment; the affine formation maneuver control protocol consists of a local feedback term, a neighbor cooperation term, and a robust compensation term;

[0009] Calculate, according to the state information of the target follower at the current moment and the control input of the target follower at the current moment, and a preset dynamic model, the position information of the target follower at the next moment;

[0010] Determine, according to the position information of the target follower at the next moment, the affine formation maneuver control instruction at the current moment, and the control instruction is used to control the follower to move from the position at the current moment to the position at the next moment.

[0011] In a second aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the affine formation maneuver control method for the heterogeneous cluster system described above.

[0012] In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the affine formation maneuver control method for the heterogeneous cluster system described above is implemented.

[0013] In a fourth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the affine formation maneuver control method for the heterogeneous cluster system described above is implemented.

[0014] According to the specific embodiments provided by the present application, the present application discloses the following technical effects:

[0015] The present application provides an affine formation maneuver control method and related devices for a heterogeneous cluster system. For any follower, based on the communication relationship of the target follower and the distributed observer, the estimated value of the updated state information of all leaders at the current moment for the target follower is determined; the target follower is any follower; according to the obtained state information of the target follower at the current moment, the estimated value of the updated state information of all leaders at the current moment for the target follower, and the preset affine formation maneuver control protocol, the control input of the target follower at the current moment is calculated; the affine formation maneuver control protocol consists of a local feedback term, a neighbor cooperation term, and a robust compensation term; according to the state information of the target follower at the current moment and the control input of the target follower at the current moment, and the preset dynamic model, the position information of the target follower at the next moment is calculated; according to the position information of the target follower at the next moment, the affine formation maneuver control command at the current moment is determined, and the control command is used to control the follower to move from the position at the current moment to the position at the next moment. So that when the affine formation maneuver control command at the current moment is executed, the desired formation configuration of the follower can be achieved; wherein, through the designed affine formation maneuver control protocol, the heterogeneous cluster system can achieve the desired formation configuration according to the communication relationship, state estimation, and distributed observer between different leaders and followers; by controlling the position of each follower at each moment, the overall coordination and precise formation of the cluster system are ensured, thereby improving the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 It is an application environment diagram of an affine formation maneuver control method for a heterogeneous cluster system in an embodiment of the present application;

[0018] Figure 2 It is a schematic flowchart of an affine formation maneuver control method for a heterogeneous cluster system provided in an embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of an output affine formation platform for heterogeneous multi - UAVs and multi - unmanned vehicles provided in Example 1 of the present application;

[0020] Figure 4 It is a schematic hardware structure diagram of an output affine formation platform for heterogeneous multi - UAVs and multi - unmanned vehicles provided in Example 1 of the present application;

[0021] Figure 5Schematic diagram of the stress matrix structure of heterogeneous multi-unmanned aerial vehicles and multi-unmanned ground vehicles provided in the first example of this application;

[0022] Figure 6 Snapshot schematic diagram of three quadrotor unmanned aerial vehicles and four omnidirectional unmanned ground vehicles realizing affine formation maneuvers provided in the first example of this application;

[0023] Figure 7a Schematic diagram of the output affine formation maneuver trajectory in the simulation provided in the first example of this application;

[0024] Figure 7b Schematic diagram of the output affine formation maneuver trajectory in the experiment provided in the first example of this application;

[0025] Figure 8a Schematic diagram of the output tracking error in the simulation provided in the first example of this application;

[0026] Figure 8b Schematic diagram of the output tracking error in the experiment provided in the first example of this application;

[0027] Figure 9a Schematic diagram of the output affine formation maneuver trajectory in three-dimensional space provided in the second example of this application;

[0028] Figure 9b Schematic diagram of the output affine formation maneuver trajectory in the projection on the X-Y plane provided in the second example of this application;

[0029] Figure 10 Schematic diagram of the state information estimation error curve of each follower provided in the second example of this application;

[0030] Figure 11 Schematic diagram of the output tracking error curve provided in the second example of this application;

[0031] Figure 12 Schematic diagram of the structure of a computer device provided in one embodiment of this application. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0033] To make the above objects, features, and advantages of this application more obvious and understandable, the following further detailed description of this application will be given in conjunction with the accompanying drawings and specific implementation manners.

[0034] The affine formation maneuver control method provided by the embodiments of the present application can be applied to, for example, Figure 1 the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, placed on the cloud or other servers. The terminal 102 can send the state information of the target follower at the current moment to be processed and the estimated value of the state information of the target follower updated for all leaders at the current moment to the server 104. After receiving the data to be processed, the server 104 calculates the control input of the target follower at the current moment according to the state information of the target follower at the current moment, the estimated value of the state information of the target follower updated for all leaders at the current moment, and the preset affine formation maneuver control protocol; according to the state information of the target follower at the current moment and the control input of the target follower at the current moment and the preset dynamic model, calculates the position information of the target follower at the next moment. The server 104 can feedback the obtained position information of the target follower at the next moment to the terminal 102. In addition, in some embodiments, the affine formation maneuver control method can also be implemented independently by the server 104 or the terminal 102. For example, the terminal 102 can directly process the data to be processed, or the server 104 can obtain the data to be processed from the data storage system and process it.

[0035] Among them, the server 104 can be implemented by an independent server or a server cluster composed of multiple servers, and can also be a cloud server.

[0036] In an exemplary embodiment, as Figure 2 shown, an affine formation maneuver control method for a heterogeneous cluster system is provided. The heterogeneous cluster system includes multiple leaders and multiple followers; each follower can execute the affine formation maneuver control method; this method is executed by a computer device, and can be specifically executed independently by a computer device such as a terminal or a server, or jointly executed by a terminal and a server. In the embodiments of the present application, taking this method applied to Figure 1 the server 104 in as an example for illustration, it includes the following steps 201 to step 204. Among them:

[0037] Step 201, determine the estimated value of the state information of the target follower updated for all leaders at the current moment according to the communication relationship of the target follower and the distributed observer; the target follower is any follower.

[0038] Step 202: Calculate the control input of the target follower at the current moment based on the obtained status information of the target follower at the current moment, the estimated values of the updated status information of all leaders at the current moment by the target follower, and the preset affine formation maneuver control protocol. The affine formation maneuver control protocol consists of a local feedback term, a neighbor cooperation term, and a robust compensation term.

[0039] Step 203: Calculate the position information of the target follower at the next moment based on the status information of the target follower at the current moment, the control input of the target follower at the current moment, and the preset dynamic model.

[0040] Step 204: Determine the affine formation maneuver control instruction at the current moment according to the position information of the target follower at the next moment. The control instruction is used to control the follower to move from the position at the current moment to the position at the next moment.

[0041] Implementing the above Steps 201 to 204, the present application first enables the follower to achieve an asymptotic estimation of the states of multiple leaders by using the interaction information in the stress matrix through a designed distributed observer; then, through a designed affine formation maneuver control protocol, the heterogeneous cluster system can achieve the desired formation configuration according to the communication relationships, state estimations, and distributed observers between different leaders and followers. Thus, by controlling the position of each follower at each moment, the overall coordination and precise formation of the cluster system are ensured, thereby enhancing the stability of the system.

[0042] Further, in Step 201, based on the communication relationship of the target follower and the distributed observer, determining the estimated values of the updated status information of all leaders at the current moment by the target follower specifically includes:

[0043] Determine the adjacent followers of the target follower according to the communication relationship of the target follower; the adjacent followers are the followers that have a communication connection with the target follower.

[0044] Obtain the estimated value of the status information of the target leader at the current moment by the target follower and the estimated value of the status information of the target leader at the current moment by the adjacent followers.

[0045] Update the estimated value of the status information of the target leader at the current moment by the target follower based on the distributed observer of the target follower and the estimated value of the status information of the target leader at the current moment by the adjacent followers, to obtain the estimated value of the updated status information of the target leader at the current moment by the target follower.

[0046] Taking each leader as the target leader, determine the estimated values of the updated status information of all leaders at the current moment by the target follower.

[0047] Further, the distributed observer of the target follower includes the communication weight between the follower and the leader; before updating the estimated value of the state information of the target follower at the current moment of the target leader based on the estimated values of the state information of the target leader at the current moment by the distributed observer of the target follower and the adjacent follower, it further includes:

[0048] Determine the expected position information of the follower at the previous moment according to the obtained expected position information of the leader at the previous moment.

[0049] Dynamically update the communication weight between the follower and the leader according to the expected position information of the follower at the previous moment, the position information of the follower at the previous moment, and the output tracking error convergence formula, and obtain the updated communication weight between the follower and the leader.

[0050] In this application, designing the distributed observer of the follower and the affine formation maneuver control protocol is the core of realizing the affine formation maneuver control of the heterogeneous cluster system. Through the designed distributed observer, the follower uses the interaction information in the stress matrix to achieve the asymptotic estimation of the states of multiple leaders. Specifically, the design process of the distributed observer and the affine formation maneuver control protocol includes:

[0051] Step 1: Establish the dynamic model of the heterogeneous cluster system.

[0052] This application considers N agents, including N l (N l ≥d + 1) leaders and (N - N l ) followers. Among them, the leaders know the formation maneuver information. and represent the sets of leaders and followers respectively. represents the expected position of the leader, represents the expected position of the follower. The dynamics of the heterogeneous cluster system are described as:

[0053]

[0054] where, and represent the state information, control input, and control output (i.e., the position information at the next moment) of agent i respectively; is the first derivative of x i (t), representing the state information of agent i at the next moment obtained by dynamically updating the state information of agent i at the current moment; A i , B i , C iThey are the system matrix, input matrix, and output matrix of agent i respectively, all of which are constant matrices.

[0055] Let represent the control outputs of all leaders, represent the control outputs of all followers. The purpose of this application is to achieve an output-affine formation, taking the control output y as the configuration p. Assume that leader j has a control input that can achieve the desired formation configuration required at all times t Then the desired formation configuration of all leaders is and the control input of the leader is bounded, satisfying ||u j || ≤ θ j , where θ j is the bounded value of the control input u j of leader j,

[0056] The communication connection between agents can be represented by the stress {ω i,j}, where ω is defined as the stress matrix that satisfies the stress balance equation . Among them, the stress matrix not only contains the interaction information between agents but also contains the information of the desired formation configuration, and the edge weight {ω i,j} can be positive, negative, or zero. Let the constant a i,j = |sgn(ω i,j )|, where a ij > 0 indicates that there is a communication connection between agent i and agent j, and a i,j = 0 indicates that there is no communication connection between agent i and agent j. Correspondingly, let where, and if i ≠ j, then l ij = -a ij . According to the interaction relationship between leaders and followers, the stress matrix is written in the following block form as:

[0057]

[0058] Step 2: Define the output-affine formation maneuver control.

[0059] Define the output tracking error as where, represents the desired formation configuration of all followers, and this desired formation configuration is uniquely determined by the leader, that is

[0060] Definition 1. If the output tracking error converges, that is:

[0061]

[0062] Then, the heterogeneous cluster system (1) achieves output affine formation maneuvering.

[0063] Based on the output tracking error δ y (t), we define the auxiliary variables:

[0064]

[0065] where and ∈ i,j is the (i, j)-th element of the stress matrix of.

[0066] Denote the output tracking errors of all followers as We know that formula (2) in Definition 1 is equivalent to:

[0067]

[0068] Step 3: Design of the distributed observer and the output affine formation maneuvering control protocol.

[0069] The expression of the distributed observer is:

[0070]

[0071] where is the estimated value of the updated state information of leader j at the current time by follower i; A j is the system matrix of leader j; B j is the input matrix of leader j; Π j is the first gain matrix; is the estimated value of the state information of leader j at the current time by follower i; is the adaptive gain parameter; a i,j is the communication weight between follower i and leader j; x j (t) is the current state information of leader j; is the estimated value of the state information of leader j at the current time by follower k; a i,k is the communication weight of follower k with respect to leader j; is the set of followers; sgn(·) is the sign function.

[0072] The expression of the output affine formation maneuvering control protocol is:

[0073]

[0074] where u i (t) is the control input of follower i at the current time; is the second gain matrix; x i (t) is the state information of follower i at the current moment; ∈ i,j is the communication weight, i.e., the (i, j)-th element in the stress matrix ; is the set of leaders; is the third gain matrix; is the estimated value of the updated state information of follower i with respect to leader j at the current moment; k is the gain coefficient; is the fourth gain matrix; Υ i,j The fifth gain matrix; is the expected relative state error between follower i and leader j, sgn(·) is the sign function.

[0075] The first gain matrix Π j , the second gain matrix the third gain matrix the fourth gain matrix and the fifth gain matrix Υ i,j are all gain matrices to be designed.

[0076] The parameters to be determined in the distributed observer (5) and the output affine formation maneuver control protocol (6) can be designed according to the following steps:

[0077] Step 3.1: Select matrices Z i,j and R i,j such that the regulator equation holds:

[0078]

[0079] where, A j is the system matrix of leader j; A i is the system matrix of follower i; B i is the input matrix of follower i; C i is the output matrix of follower i; C j is the output matrix of leader j.

[0080] Step 3.2: Solve the positive definite matrix P through the following linear matrix inequality j :

[0081]

[0082] where, B j is the input matrix of leader j; P j > 0,

[0083] Adaptive gain parameter The update method is as follows:

[0084]

[0085] Among them, represents the estimated value of the state information of follower i relative to its neighbors of the local error; select

[0086] Step 3.3: Using the preset gain matrix calculation rule, calculate the gain matrix to be designed:

[0087] Select such that is a Hurwitz matrix; let Select Υ i,j such that B i Υ i,j -Z i,j B j = 0 holds; let H i represents the solution to the Lyapunov equation Select the gain coefficient k such that k ≥ θ, where θ is i.e., the maximum value of the amplitude of the perturbation received by leader j. Through Hurwitz matrix design, Lyapunov equation, and input boundedness constraints, global stability is ensured.

[0088] This application uses a numerical simulation example to illustrate the effectiveness of the proposed theory. The output affine formation maneuver control method is applied to the air-ground cooperative patrol application scenario of a heterogeneous cluster system of multiple unmanned aerial vehicles and multiple unmanned ground vehicles (UGVs) in an obstacle environment, where multiple unmanned aerial vehicles act as leaders and multiple unmanned ground vehicles act as followers. In the form of an affine formation, the heterogeneous cluster system of multiple unmanned aerial vehicles and multiple unmanned ground vehicles flexibly realizes the cooperative patrol task through maneuvers such as passing through narrow channels and turning to avoid obstacles. To verify the effectiveness of the proposed algorithm, two examples are given. Example 1 shows the simulation and actual experimental results carried out on the output affine formation platform of the heterogeneous cluster system as shown in Figure 3 This platform includes three quadrotor unmanned aerial vehicles, four omnidirectional unmanned ground vehicles, a motion capture system, and a Wi-Fi local area network. To further demonstrate the flexible affine formation maneuverability of the proposed algorithm and its applicability to general high-order linear heterogeneous systems, Example 2 shows the simulation results of a more general high-order heterogeneous system implementing more affine maneuver forms. Due to experimental site limitations and speed limitations of unmanned aerial vehicles and unmanned ground vehicles, the actual experiments involving more affine formation forms are not shown in Example 2.

[0089] Example 1 (Simulation and Physical Experiment of 3 Quadrotor UAVs and 4 Omnidirectional UGVs):

[0090] Figure 4 Describes the hardware structure of an output affine formation platform for heterogeneous multi-UAVs and multi-unmanned ground vehicles (UGVs). This platform uses the FZMotion Mocap system to provide real-time position and attitude information for UAVs and unmanned ground vehicles. UAVs and unmanned ground vehicles exchange data through a Wi-Fi local area network to achieve mutual interaction. Both UAVs and unmanned ground vehicles are designed with a two-layer architecture. The upper-layer controller is responsible for functions such as decision-making, perception, interaction, and control, and sends real-time control commands (acceleration commands for UAVs and speed commands for unmanned ground vehicles) to the lower-layer controller. After receiving these control commands, the lower-layer controller further calculates them into control signals for the motors, enabling UAVs or unmanned ground vehicles to accurately respond to control commands. The stress matrix is as Figure 5 shown.

[0091] Figure 6 Shows snapshots of the process of three quadrotor UAVs and four omnidirectional unmanned ground vehicles achieving affine formation maneuvers. Figures 7 and 8 respectively depict the output of the affine formation maneuver trajectory and the curves of the tracking error δ y (t) output in simulation and experiment. From Figure 6 Figure 7 to Figure 8, it can be seen that the unmanned ground vehicles and the projections of UAVs on the ground achieve the scaling of the formation, thus completing the affine formation maneuvers in both simulation and experiment.

[0092] Example 2 (Simulation with More Affine Maneuver Forms):

[0093] This example shows three leaders and four followers in simulation traversing an obstacle path in the form of affine formation maneuvers such as translation, rotation, scaling, and shear. Figure 9 shows the output affine formation maneuver trajectories in three-dimensional space and the X-Y plane. Figure 10 Records the estimated error curves of each follower, from which the asymptotic convergence of the error can be seen, indicating that the followers achieve the asymptotic estimation of the leader state. Figure 11 Gives the output tracking error δ y (t). According to Definition 1, the convergence of the error δ y (t) means that the heterogeneous cluster system (1) has completed the output affine formation maneuver. Combining Figures 9 - 11, the simulation results verify that the proposed algorithm and control protocol can effectively achieve the output affine formation maneuver of heterogeneous systems with non-zero input leaders.

[0094] In an exemplary embodiment, a computer device is provided. This computer device can be a server or a terminal, and its internal structure diagram can be as Figure 12As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store processed data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements an affine formation maneuver control method for a heterogeneous cluster system.

[0095] Those skilled in the art can understand that Figure 12 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0096] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the steps in the above method embodiments are implemented.

[0097] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0098] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0099] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAMs), magnetoresistive random access memories (MRAMs), ferroelectric random access memories (FRAMs), phase change memories (PCMs), graphene memories, etc. Volatile memories can include random access memories (RAMs) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0100] The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logics, data processing logics based on quantum computing, etc., without limitation.

[0101] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0102] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. An affine formation maneuver control method for a heterogeneous cluster system, characterized in that The heterogeneous cluster system includes multiple leaders and multiple followers; each follower is capable of performing an affine formation maneuver control method; wherein, the affine formation maneuver control method includes: Determining, according to the communication relationship of a target follower and a distributed observer, an estimated value of the updated state information of all leaders at the current moment for the target follower; the target follower is any one of the followers; Calculating, according to the state information of the target follower at the current moment, the estimated value of the updated state information of all leaders at the current moment for the target follower, and a preset affine formation maneuver control protocol, a control input of the target follower at the current moment; the affine formation maneuver control protocol consists of a local feedback term, a neighbor cooperation term, and a robust compensation term; Calculating, according to the state information of the target follower at the current moment and the control input of the target follower at the current moment, and a preset dynamic model, the position information of the target follower at the next moment; Determining, according to the position information of the target follower at the next moment, an affine formation maneuver control instruction at the current moment, and the control instruction is used to control the follower to move from the position at the current moment to the position at the next moment.

2. The affine formation maneuver control method for the heterogeneous cluster system according to claim 1, wherein, Determining, according to the communication relationship of a target follower and a distributed observer, an estimated value of the updated state information of all leaders at the current moment for the target follower, specifically including: Determining, according to the communication relationship of the target follower, adjacent followers of the target follower; the adjacent followers are followers having a communication connection with the target follower; Obtaining an estimated value of the state information of the target leader at the current moment for the target follower and an estimated value of the state information of the target leader at the current moment for the adjacent followers; Updating, based on the distributed observer of the target follower and the estimated value of the state information of the target leader at the current moment for the adjacent followers, the estimated value of the state information of the target leader at the current moment for the target follower, to obtain an estimated value of the updated state information of the target leader at the current moment for the target follower; Taking each leader as the target leader, and determining an estimated value of the updated state information of all leaders at the current moment for the target follower.

3. The affine formation maneuver control method for the heterogeneous cluster system according to claim 2, wherein The distributed observer of the target follower includes a communication weight between the follower and the leader; before updating, based on the distributed observer of the target follower and the estimated value of the state information of the target leader at the current moment for the adjacent followers, the estimated value of the state information of the target leader at the current moment for the target follower, to obtain an estimated value of the updated state information of the target leader at the current moment for the target follower, it further includes: Determining, according to the expected position information of the leader at the previous moment obtained, the expected position information of the follower at the previous moment; Dynamically updating the communication weight between the follower and the leader according to the expected position information of the follower at the previous moment, the position information of the follower at the previous moment, and an output tracking error convergence formula, to obtain an updated communication weight between the follower and the leader.

4. The affine formation maneuver control method for the heterogeneous cluster system according to claim 1, characterized in that, The expression of the distributed observer is: Among them, is the estimated value of the updated state information of leader j by follower i at the current moment; A j is the system matrix of leader j; B j is the input matrix of leader j; Π j is the first gain matrix; is the estimated value of the state information of leader j by follower i at the current moment; is the adaptive gain parameter; a i,j is the communication weight between follower i and leader j; x j (t) is the current state information of leader j; is the estimated value of the state information of leader j by follower k at the current moment; a i,k is the communication weight between follower k and leader j; V f is the set of followers; sgn(·) is the sign function.

5. The affine formation maneuver control method for the heterogeneous cluster system according to claim 1, wherein The expression of the affine formation maneuver control protocol is: where, u i (t) is the control input of follower i at the current moment; is the second gain matrix; x i (t) is the state information of follower i at the current moment; ∈ i,j is the communication weight, i.e., the (i, j)-th element in the stress matrix; V l is the set of leaders; is the third gain matrix; is the estimated value of the updated state information of follower i with respect to leader j at the current moment; k is the gain coefficient; is the fourth gain matrix; Υ i,j The fifth gain matrix; is the expected relative state error between follower i and leader j; sgn(·) is the sign function.

6. The affine formation maneuver control method for the heterogeneous cluster system according to claim 1, characterized in that The dynamic model is: Among them, and x i (t + 1) are the state information of follower i at the next moment; A i is the system matrix of follower i; x i (t) is the state information of follower i at the current moment; B i is the input matrix of follower i; u i (t) is the control input of follower i at the current moment; y i (t + 1) is the position information of follower i at the next moment; C i is the output matrix of follower i.

7. The affine formation maneuver control method for the heterogeneous cluster system according to claim 5, characterized in that The determination processes of the second gain matrix, the third gain matrix, the fourth gain matrix, and the fifth gain matrix are as follows: Determine the selection matrix; Based on the selection matrix, the system matrix, the input matrix, and the output matrix of the leader, calculate the system matrix, the input matrix, and the output matrix of the follower; Based on the system matrix, the input matrix, and the output matrix of the follower, use the preset gain matrix calculation rule to calculate the second gain matrix, the third gain matrix, the fourth gain matrix, and the fifth gain matrix.

8. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the affine formation maneuver control method of the heterogeneous cluster system according to any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the affine formation maneuver control method of the heterogeneous cluster system according to any one of claims 1-7.

10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the affine formation maneuver control method of the heterogeneous cluster system according to any one of claims 1-7.

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