62 results about "Differential game" patented technology

The present invention relates to an attack and defense differential game-based network security defense decision determination method and a device. The method comprises the steps of constructing a state evolution model NIRM for network nodes according to an SIR model during the network attack and defense process; according to a network node state migration path, acquiring a node state change differential equation set based on the state evolution model NIRM; according to the node state change differential equation set, constructing an attack and defense differential game model ADDG; according to an attack and defense return strategy and a corresponding execution cost, executing a revenue function of the attack party and the defense party during the differential game process; according to the revenue function and the attack and defense differential game model ADDG, solving out a saddle point strategy for the attack party and the defense party through the dynamic planning method, determining an optimal defense strategy and outputting the optimal defense strategy. According to the technical scheme of the invention, the problem that actual requirements cannot be met through the traditional dynamic game analysis method can be solved. Compared with the existing network security defense strategy, the attack and defense process in the continuous and real-time engagement condition is analyzed. The timeliness, the pertinence and the guiding significance of network defense decision results are better.

The invention discloses a method for guiding an input constraining differential game based on self-adaptive dynamic planning. According to the method, a solving problem of an HJI equation and an input saturation problem in a nonlinear differential game problem are solved; an input constraining solving problem of the nonlinear differential game is solved by virtue of a self-adaptive dynamic planning technique, and a neural network and a Lyapunov method are combined so as to obtain a guidance control volume; and an input constraining differential game guidance law can be online obtained in real time based on an evaluation network updating law, and the aspect angle velocity in a guided missile-target relative motion relation tends to 0, so that the successful interception is guaranteed.

The invention discloses a method and a system for planning an escape route for a spacecraft. The method comprises steps of: 1) constructing a Hamilton function and a terminal constraint function of differential game based on a near circle deviation equation; 2) solving a co-state equation of the differential game to obtain an evolutionary formula for co-state quantity analysis; 3) solving an optimal control equation of the differential game to obtain an analytical expression of optimal control quantity; 4) solving a cross-section condition of the differential game to obtain terminal values ofHamilton quantity and co-state quantity; 5) solving a nonlinear equation set iteratively to obtain a saddle point of the differential game; and 6) planning the escape route for the spacecraft according to the saddle point of the differential game. According to the method and the system for planning the escape route for the spacecraft, the saddle point of the differential game of chase and escape in the spacecraft can be quickly solved, and by an optimal control law of the chase and escape corresponding to the saddle point, space threat can be evaded and a game route can be planned for the spacecraft. Therefore, the method and the system have the advantages of being correct and reasonable in design, fast in calculation, good in applicability to actual tasks, and the like.

The invention discloses a multi-zone automatic generation control coordination method based on the differential game theory. The method comprises the following steps: step 1, a dynamic model of zone interconnected network automatic generation control (AGC) is established; step 2, traditional AGC amount based on a proportion integration link is replaced by AGC amount based on the differential game theory and a coordination control model, based on the differential game theory, of zone interconnected network automatic generation is established; step 3, the coordination control model of the zone interconnected network automatic generation is solved through the linear quadratic type differential game theory and the obtained Nash equilibrium strategy serves as automatic generation control amount of multiple zones; and step 4, compared with other existing control methods, the multi-zone automatic generation control coordination method based on the differential game theory enables distribution of frequency modulation among the zones to be fair and convictive. The multi-zone automatic generation control coordination method based on the differential game theory has the advantages of being strong in robustness and the like.

A differential game anti-interception maneuver penetration/precise striking guide method includes the following three steps of firstly, carrying out modeling of a three-body differential game model, wherein a warring three-party dynamics link model, a warring three-party linearized warring model and a three-body differential game model are included; secondly, carrying out dimension reduction processing on an original three-body differential game model and obtaining the new three-body differential game model; and thirdly, solving the new three-body differential game model based on the optimal control theory and obtaining the optimal control law of a guided missile, wherein solving of the Hamiltonian function of the new three-body differential game model and the optimal control problem corresponding to the new three-body differential game model is included. By means of the three steps, the establishing process of the three-body differential game model, the conversion process of the new model and the old model and the solving process of the differential game model are described, and finally, the differential game anti-interception maneuver penetration/precise striking guide method is obtained.

The invention belongs to the technical field of air vehicle guidance and provides a self-adaptive weighting differential game guidance method aiming at a high maneuvering target. The method includes deriving a differential game guidance law under the conditions of symmetrical complete information and asymmetrical incomplete information according to different information modes; self-adaptively adjusting a penalty coefficient in a quadratic index according to estimation results of a state filter and a current maneuvering capacity; and finally, switching the different information modes according to estimation errors and self-adaptively changing a pursuit strategy to further form the self-adaptive weighting differential game guidance method. According to the self-adaptive weighting differential game guidance method, state information measured by a sensor is fully utilized, the information modes are timely adjusted according to changes of outside environments, the problems that reasonable evidences for setting target penalty coefficients are absent and ordinary differential game guidance laws are conservative are effectively solved, guidance accuracy of air vehicles is effectively and scientifically improved, and the method has high application values.

The invention relates to the field of cognitive radio (CR) and cellular mobile communication, in particular to a differential game-based CR system power control method. The control method comprises the following steps of: 1) constructing a CR system model; 2) designing a power extraction cost function and a power radiation hazard cost function; 3) constructing a power control differential game model; and 4) resolving feedback Nash equilibrium. In the method, the dynamic property of time continuity of an actual CR system is described well, a non-cooperative differential game model for controlling CR system power is established, a differential game-based distributed non-cooperative power control method is provided, and a feedback Nash equilibrium analytic solution is acquired. Through power control in a distributed non-cooperative power cognitive differential game (DNPCDG) algorithm, interference among cognitive users is effectively suppressed, so that total throughput is increased, and system performance is improved.

The present invention relates to a multi-microsatellite posture takeover failed spacecraft method with robustness differential game control. For a combination body formed by multiple microsatellites and a failed spacecraft and attached to the surface of the failed spacecraft, posture takeover control problem modeling with interference is a game problem between the multiple microsatellites and theinterference to avoid control distribution and effectively inhibit the interference. A linear posture dynamical model of the combination body and a performance index function of each microsatellite are established to obtain a differential game model; and the performance index functions are optimized to obtain and solve an HJ equation to obtain a state feedback control policy expression which can be directly used online. Through adoption of the design triggering mechanism, a controller can only obtain the system update state when being triggered and updates the state feedback control amount andthe control at the triggering moment is employed at triggering to ensure stability and reduce the communication between individuals and frequent calculation of the controller.

The invention, which belongs to the field of automation, relates to an optimal synchronous control method of a coupled fractional order chaotic electromechanical device. A synchronous model of a fractional-order electromechanical device with mutually coupled capacitance and resistance is established, and a phase diagram shows that dynamic behaviors of the fractional-order electromechanical deviceare closely related to physical parameters, coupling coefficients and fractional orders. In order to transfer a driven system from an original track to a track of a driving system, the invention provides an optimal synchronous control method consisting of a self-adaptive feedforward controller and an optimal feedback controller. The invention provides a feedforward controller for estimating an unknown function of a dynamic system under a framework combining a fractional order backstepping method with a hierarchical 2-type fuzzy neural network. Meanwhile, an adaptive dynamic planning method isprovided to solve the zero and differential game problem in the optimal feedback controller. According to the invention, asymptotic stability of a closed-loop system is ensured, optimal synchronization is realized, and a cost function is minimized.

The invention discloses a small celestial body soft landing differential game control method in an uncertain environment, and belongs to the technical field of deep space exploration. The implementation method comprises the following steps of under a condition that a target small celestial body accurate gravitational field model is unknown, determining a lander motion form in an irregular weak gravitational field, using a state error propagation method to design a virtual moving target landing point, and converting an uncertainty influence of the irregular gravitational field on lander motioninto random motion of the virtual moving target landing point; and designing an optimal landing control strategy of the lander based on zero and random differential games, and making the lander land according to the optimal landing control strategy so as to improve the landing precision of the lander at a predetermined position on the surface of the small celestial body.

The invention discloses a frequency modulation feedback Nash equilibrium control method based on a coevolution algorithm. The control method includes the steps that step1, in consideration of a speed controller dead zone, control action amplitude limit, unit creep speed constraint and other engineering practice factors, a differential game model between a primary frequency modulation and a secondary frequency modulation in an IEEE two-area interconnection system is built; step2, the coevolution algorithm is adopted for solving the differential game model, with kinds of complex constraint, between the primary frequency modulation and the secondary frequency modulation in the IEEE two-area interconnection system, and a feedback Nash equilibrium solution of the differential game model is obtained; step3, the obtained feedback Nash equilibrium strategy serves as a primary frequency modulation control quantity and a secondary frequency modulation control quantity of an area, the conflict anti-tune problem between the primary frequency modulation and the secondary frequency modulation is effectively solved, and therefore coordination control between the primary frequency modulation and the secondary frequency modulation of an electric system is achieved. The frequency modulation feedback Nash equilibrium control method has the advantages of reducing unit wastage and achieving a good control effect.

The invention provides a multi-aircraft anti-interception collaborative strike guidance method and device and an aircraft. According to the method, the state data of an attack aircraft, the state data of an interception aircraft and the state data of a target object are obtained, wherein the state data comprise position information, speed and acceleration; and the guidance law of the attack aircraft is obtained according to the state data and a three-body differential game model, wherein the three-body differential game model is established by reducing the order of a combat linear kinematics and dynamics model according to a zero-control miss distance and according to the reduced-order combat linear kinematics and dynamics model and a time multiplier, the time multiplier is introduced to unify the terminal time of all the reduced-order models, global performance indexes are established, the saddle point solution is obtained based on the differential game theory, and the guidance law is optimal for the three parties. According to the invention, combat that the multiple aircrafts penetrate through the interception of the missile group is realized, so that the multiple aircrafts can avoid the interception of the interception aircrafts with the maximum maneuverability and accurately hit a target object.

The invention discloses a differential game collaborative guidance method based on event triggering, and belongs to the technical field of aircraft guidance. According to the method, based on a differential game theory and a topological structure, a multi-missile cooperative guidance system is modeled into a nonlinear zero-sum differential game system; an event triggering mechanism is introduced, and communication transmission of redundant signals among the missiles is avoided; and an approximate solution of the nonlinear coupling HJI equation set is obtained by using a self-adaptive dynamic programming technology. The optimal controller triggered by the event is updated online in real time, multiple missiles can hit the same target at the same collision angle within the required time, and meanwhile, communication resources and calculation cost between the missiles can be effectively reduced.

The invention relates to a linear quadratic differential game based four-wheel active steering control method for a four-wheel independently-driven electric vehicle. The linear quadratic differentialgame based four-wheel active steering control method has the advantages that a front-wheel feedforward compensation control steering angle and a rear-wheel feedforward control steering angle are output by a feedforward controller, and serve as two 'players' in a game according to a linear quadratic differential game algorithm; a feedback Nash equilibrium solution of the differential game is acquired by solving the coupled algebraic Riccati equation set, and accordingly, the front-wheel feedforward compensation control steering angle and the rear-wheel feedforward control steering angle are acquired; the handling stability of the electric vehicle during high-speed steering and the handling flexibility thereof during low-speed steering can be improved through four-wheel active drive based onthe combination of feedforward control with feedback control; the side slip angle of the vehicle is effectively decreased under the premise of not changing the driver's feeling about conventional front wheel steering, the ideal yaw velocity of the vehicle can be well tracked, and the active safety performance of the vehicle is improved.

The invention provides a robust differential game control method for multi-robot on-orbit assembly attitude stability. The method aims at an assembly formed by an assembly body and multiple robots, and models an attitude stability control problem with interference as a game problem among the multiple robots. The method comprises the following steps: establishing an attitude dynamics model of the assembly by using rotational inertia obtained by identification; observing by using an interference observer to obtain an external interference torque, and improving the attitude dynamics model; writing the attitude dynamics model into a state related form; establishing a differential game model by using the state related assembly attitude dynamics model and a performance index function of each robot; and obtaining an HJ equation by optimizing the performance index function, and solving the HJ equation to obtain a state feedback control strategy expression. Since an observation result of the interference observer is directly added to the game model, the obtained control strategy is a Nash equilibrium strategy with strict significance, and the control strategy has a good suppression effect on uncertain factors such as modeling uncertainty and external interference, and has certain robustness.

The invention provides an information transmission rate control method and device for ultra-dense networking. The method comprises the following steps: acquiring network parameters in an ultra-dense networking network; constructing a rate control target function according to the network parameters based on the target of the optimal network cost, wherein x (t) is the overall network interference state at the t moment, R1 (t) is the information transmission rate of the communication link 1 at the t moment, and ul (t) is the interference control measure of the communication link 1 at the t moment; constructing an integral network interference state differential equation dx (t) = f (x (t), R1 (t), ul (t)) according to the dynamic change of the network parameters based on the interference between the base stations; and forming a differential game model by the rate control objective function and the integral network interference state differential equation, solving the differential game model to obtain a Nash equilibrium solution, and taking the Nash equilibrium solution as the optimal information transmission rate of the communication link. According to the invention, dynamic control and distribution of the information transmission rate of ultra-dense networking can be realized.

The invention belongs to the technical field of network security, and relates to a network security dynamic defense decision-making method based on space-time game. The network security dynamic defense decision-making method comprises the steps of: constructing a multi-dimensional transformation moving target defense model according to network attack and defense dynamic space-time confrontation characteristics, wherein an attack party and a defense party in the multi-dimensional transformation moving target defense model are jointly determined by a detection surface, an attack surface and a detection surface through a network surface for implementing attack and defense strategy control; according to the multi-dimensional transformation moving target defense model, analyzing an attack and defense game process and describing a moving target defense security state evolution process; analyzing a continuous network attack and defense process by utilizing differential game, and constructinga moving target defense space-time decision-making model; and for the moving target defense space-time decision-making model, determining an optimal space-time defense strategy by quantifying attack and defense benefits and solving a saddle point equalization strategy. Based on the game model, the defense decision considering a space strategy and a time strategy is realized, the pertinence and timeliness of the network security defense decision are enhanced, and the network security defense efficiency is improved.

The invention discloses a method for designing a differential game guidance law with finite time convergence. According to the method, finite time improvement is performed on the differential game guidance law which is stable within infinite time; a weight matrix is designed, so that the differential game guidance law realizes sight angular rate convergence within the finite time; the guidance lawkeeps the advantage of not needing residual time estimation; and finally, a maneuvering target is effectively intercepted, and a guidance effect is improved.

The invention belongs to the field of non-linear differential game control, and provides a random non-linear differential game control method based on statistic linearization. The random non-linear differential game control method based on the statistic linearization comprises the following steps of: carrying out similar linearization on a system non-linear function by using a statistic linearization technology according to system state random probabilistic nature, and deriving with a random dynamic programming method to obtain analysis controller containing a statistic linearization coefficient; and meanwhile, carrying out statistic linearization on a non-linear saturation function by considering a condition that a control mount in actual engineering is limited by saturation, so as to obtain an analysis controller in a saturation limited condition. The controller consists of two parts of a system state feedback part and a statistic linear coefficient feedback part. With the adoption of the method, the two-point boundary problem caused by solving a non-linear (partial) differential equation (set) can be effectively avoided; and the random non-linear differential game control problems can be more conveniently solved on the premise that certain solving accuracy is ensured, so that multiple functions which cannot carry out the linearization by using Taylor series expansion have possibility of carrying out the linearization. The method is particularly suitable for functions, such as phase step and saturation control and digital conversion switch which are most used on aircraft, and has strong popularization and application values.

The invention relates to the field of mobile communication, in particular to an ultra-dense networking-oriented load balancing method and system. The ultra-dense networking comprises a plurality of wireless access points and is used for accessing network users. The method comprises the following steps: constructing a cost objective function (shown in the description) of the wireless access points;constructing a network user dynamic change differential equation dx (t) = f (x (t), li (t), i = 1... K) dt, the li (t) being the load capacity of the ith wireless access point at the moment t, the x(t) being a network user dynamic change state, and the k being the number of the wireless access points in the ultra-dense networking; and forming a differential game model by the cost objective function of the wireless access point and the network user dynamic change differential equation, solving the differential game model to obtain a Nash equilibrium solution, and taking the Nash equilibrium solution as an optimal load distribution value of the wireless access point. According to the invention, the load balancing problem of users among different cells can be solved, and reasonable load distribution in an ultra-dense networking network is realized.

The invention relates to a zero-sum differential game processing method for a supply chain system based on a backstepping design method, and the method comprises the following specific steps: S1, carrying out the modeling of a nonlinear switching supply chain system with uncertain customer demands as a two-party zero-sum differential game problem, and inhibiting a bullwhip effect through a game theory method; S2, converting a tracking problem of a strict feedback system into an equivalent differential countermeasure problem of an affine system by utilizing a feedforward controller; S3, then, researching a zero sum differential game strategy by using an adaptive dynamic programming technology, and proving the convergence of a differential game based on backstepping and the stability of a closed-loop system by using a Lyapunov method; and S4, finally, verifying the effectiveness of the method through a simulation result. The method is suitable for the situation that the model of the supply chain system is not completely known in real life AND is applied to the nonlinear supply chain system without knowing the state function in advance, and has more practical significance.

The invention provides a multi-level optimization control system and method based on a Stackelberg-Nash differential game, and the system comprises a multi-decision-maker robust control module, a Stackelberg-Nash differential game module, an event-driven generation module, an evaluation network learning module and a system construction module, the multi-decision-maker robust control module guarantees the robustness of the system through an ADP-based robust control method, and the multi-decision-maker robust control module guarantees the robustness of the system through an ADP-based robust control method. The Stackelberg-Nash differential game module describes a multi-level non-cooperative game behavior of a complex system by using a Stackelberg game model, designs cost functions of a leader and a follower, and uses the cost functions to update a control strategy, and the event-driven generation module designs event-driven conditions suitable for multiple decision makers, updates the control strategy when the driving conditions are violated, and generates a multi-level non-cooperative game. The evaluation network learning module trains an evaluation network and solves a solution of a coupling HJ equation under event driving to obtain an optimal control strategy, the system construction module applies the obtained optimal control strategy to a multi-level complex system containing multiple decision makers, and the multi-level optimization control system and method based on the Stackelberg-Nash differential game are formed.