CN114020042A - A heterogeneous unmanned swarm formation encirclement tracking control method and system - Google Patents

A heterogeneous unmanned swarm formation encirclement tracking control method and system Download PDF

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CN114020042A
CN114020042A CN202111530445.7A CN202111530445A CN114020042A CN 114020042 A CN114020042 A CN 114020042A CN 202111530445 A CN202111530445 A CN 202111530445A CN 114020042 A CN114020042 A CN 114020042A
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leader
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化永朝
董希旺
苏飘逸
于江龙
任章
吕金虎
翁哲鸣
张洪坤
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Beihang University
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Abstract

The invention relates to a heterogeneous unmanned cluster formation enclosure tracking control method and system. According to the method, a motion model of a tracking-leader is determined according to the macro motion state and bounded control input of a heterogeneous unmanned cluster system; constructing a distributed time-varying formation tracking controller according to the motion model of the tracking-leader, the state of the formation-leader, the communication topological relation and the time-varying output formation vector; constructing a distributed surround-tracking controller according to the state of the formation-leader and the state of the follower; constructing a formation-leader motion model according to the distributed time-varying formation tracking controller and the motion model of the tracking-leader; constructing a follower motion model according to the formation-leader motion model and the distributed surround-tracking controller; the invention realizes formation-enclosure tracking control of a heterogeneous unmanned cluster system with switching communication topology and unknown input of a leader.

Description

一种异构无人集群编队合围跟踪控制方法及系统A heterogeneous unmanned swarm formation encirclement tracking control method and system

技术领域technical field

本发明涉及集群系统协同控制领域，特别是涉及一种异构无人集群编队合围跟踪控制方法及系统。The invention relates to the field of cooperative control of swarm systems, in particular to a method and system for encircling and tracking control of a heterogeneous unmanned swarm formation.

背景技术Background technique

无人集群协同控制近年来受到国内外的广泛关注与重视，通过异构无人平台之间的协同互补可显著提升任务执行效能，在大规模协同区域搜索、集群优化调度等多种任务应用中展现出广阔的应用前景。近年来已在航空航天领域进行了大量的应用试验，例如无人机蜂群攻击、多导弹协同突防、多卫星协同探测等。然而已有的无人集群系统的任务类型、协同模式、协同策略相对简单，亟需研究复杂环境条件下的自主协同控制技术。The coordinated control of unmanned swarms has received extensive attention and attention at home and abroad in recent years. The synergy and complementarity between heterogeneous unmanned platforms can significantly improve task execution efficiency. Shows broad application prospects. In recent years, a large number of application tests have been carried out in the aerospace field, such as drone swarm attack, multi-missile cooperative penetration, multi-satellite cooperative detection, etc. However, the existing unmanned swarm systems have relatively simple task types, cooperative modes and cooperative strategies, and it is urgent to study autonomous cooperative control technology under complex environmental conditions.

目前，集群系统协同控制领域已经产生了众多紧密相关而又各有侧重的研究分支，包括一致性控制、编队控制、合围控制等。在传统的合围控制的研究中，通常假设多领导者之间不存在交互与协同。然而，在实际应用场景中，领导者往往需要协同来保持特定的时变编队队形，且能够跟踪参考航迹或者特定目标进行运动，以更好地满足任务需求。例如，高低搭配的多导弹系统协同攻击时，要求高配置的导弹通过协同形成期望的相对阵位关系，同时低配置的导弹需要能够在高配置的导弹的导引下准确落入攻击区域。该场景下就出现了更为复杂的编队-合围跟踪控制问题，集群系统存在层内的不同协同控制目标以及层间的协同耦合，一方面要求多领导者形成特定的编队并跟踪参考轨迹或目标运动，另一方面要求跟随者能够进入领导者所形成编队的内部。因此，研究无人集群系统的编队-合围跟踪控制不仅具有理论意义，更加具有工程实际意义。At present, there have been many closely related research branches with different emphasis in the field of cooperative control of swarm systems, including consistency control, formation control, and encirclement control. In traditional research on enclosure control, it is usually assumed that there is no interaction and coordination among multiple leaders. However, in practical application scenarios, leaders often need to cooperate to maintain a specific time-varying formation and be able to track a reference trajectory or a specific target for movement to better meet mission requirements. For example, when a multi-missile system with high and low configuration cooperates to attack, it is required that the missiles with high configuration can form the desired relative positional relationship through coordination, and the missiles with low configuration need to be able to accurately fall into the attack area under the guidance of missiles with high configuration. In this scenario, a more complex formation-enclosure tracking control problem arises. The cluster system has different cooperative control targets within layers and cooperative coupling between layers. On the one hand, multiple leaders are required to form specific formations and track reference trajectories or targets. Movement, on the other hand, requires followers to be able to enter the interior of the formation formed by the leader. Therefore, the study of formation-encirclement tracking control of unmanned swarm system not only has theoretical significance, but also has engineering practical significance.

现有的协同控制方法一般假设集群系统是同构的，即要求集群中的所有个体具有相同的动力学与运动学模型。然而，同构集群存在智能涌现模式单一及协同能力薄弱等局限性。异构集群跨域协同可以充分发挥无人机、无人车、无人艇等不同无人系统的优势，以结构耦合和功能互补的方式实现集群智能的倍增。但是目前异构集群系统编队控制及合围控制的研究尚处于起步阶段，相关的研究成果较少。同时，在切换拓扑的影响下，现有方法难以使得闭环系统的控制误差收敛，因此直接应用于切换拓扑的无人集群系统编队-合围控制技术有待突破。Existing cooperative control methods generally assume that the swarm system is isomorphic, that is, all individuals in the swarm are required to have the same dynamic and kinematic model. However, homogeneous clusters have limitations such as single intelligent emergent mode and weak coordination ability. The cross-domain collaboration of heterogeneous clusters can give full play to the advantages of different unmanned systems such as unmanned aerial vehicles, unmanned vehicles, and unmanned boats, and realize the multiplication of cluster intelligence in the form of structural coupling and functional complementarity. However, the current research on formation control and enclosure control of heterogeneous cluster systems is still in its infancy, and there are few related research results. At the same time, under the influence of switching topology, it is difficult for existing methods to make the control error of closed-loop system converge, so the formation-enclosure control technology of unmanned swarm system directly applied to switching topology needs to be broken through.

发明内容SUMMARY OF THE INVENTION

本发明的目的是提供一种异构无人集群编队合围跟踪控制方法及系统，实现存在切换通信拓扑与领导者未知输入的异构无人集群系统的编队-合围跟踪控制。The purpose of the present invention is to provide a heterogeneous unmanned swarm formation enclosing tracking control method and system to realize formation-enclosing tracking control of heterogeneous unmanned swarm systems with switching communication topology and unknown leader input.

为实现上述目的，本发明提供了如下方案：For achieving the above object, the present invention provides the following scheme:

一种异构无人集群编队合围跟踪控制方法，包括：A heterogeneous unmanned swarm formation encirclement tracking control method, comprising:

根据异构无人集群系统确定跟踪-领导者、编队-领导者和跟随者；所述跟踪-领导者生成整个异构无人集群系统所跟踪的目标信号；所述编队-领导者和所述跟随者分别为异构无人集群系统中不同类型的智能体；The tracking-leader, the formation-leader and the follower are determined according to the heterogeneous unmanned swarm system; the tracking-leader generates the target signal tracked by the entire heterogeneous unmanned swarm system; the formation-leader and the The followers are different types of agents in the heterogeneous unmanned swarm system;

根据异构无人集群系统宏观运动的状态以及有界的控制输入，确定跟踪-领导者的运动模型；所述跟踪-领导者的运动模型用于生成所述异构无人集群系统整体运动的参考轨迹；According to the state of the macroscopic motion of the heterogeneous unmanned swarm system and the bounded control input, the motion model of the tracker-leader is determined; the motion model of the tracker-leader is used to generate the overall motion of the heterogeneous unmanned swarm system. reference track;

获取异构无人集群系统的通信拓扑关系；所述异构无人集群系统的通信拓扑关系中各跟随者邻居集合的并集包含所有的编队-领导者，跟随者之间的作用拓扑是连通的；领导者之间的作用拓扑以跟踪-领导者为根节点的生成树，且编队-领导者之间的作用拓扑是无向的；Obtain the communication topology relationship of the heterogeneous unmanned swarm system; in the communication topology relationship of the heterogeneous unmanned swarm system, the union of the neighbor sets of each follower includes all formations-leaders, and the role topology between the followers is connected ; the role topology between leaders is a spanning tree with tracking-leader as the root node, and the role topology between formation-leaders is undirected;

根据跟踪-领导者的运动模型、编队-领导者的状态、所述通信拓扑关系以及时变输出编队向量，构建分布式时变编队跟踪控制器；根据编队-领导者的状态以及所述跟随者的状态，构建分布式合围-跟踪控制器；According to the motion model of the tracking-leader, the state of the formation-leader, the communication topology relationship and the time-varying output formation vector, a distributed time-varying formation tracking controller is constructed; according to the state of the formation-leader and the follower state, build a distributed enclosure-tracking controller;

根据分布式时变编队跟踪控制器以及跟踪-领导者的运动模型构建编队-领导者运动模型；根据编队-领导者运动模型以及分布式合围-跟踪控制器构建跟随者运动模型；The formation-leader motion model is constructed according to the distributed time-varying formation tracking controller and the tracking-leader motion model; the follower motion model is constructed according to the formation-leader motion model and the distributed enclosure-tracking controller;

利用编队-领导者运动模型时变编队跟踪所述跟踪-领导者的参考轨迹；Tracking the tracker-leader's reference trajectory using a time-varying formation with a formation-leader motion model;

利用跟随者运动模型将跟随者的输出收敛到所述编队-领导者所形成编队的凸包中。The output of the follower is converged into the convex hull of the formation formed by the formation-leader using the follower motion model.

可选地，根据异构无人集群系统宏观运动的状态以及有界的控制输入，确定跟踪-领导者的运动模型，具体包括：Optionally, according to the macroscopic motion state of the heterogeneous unmanned swarm system and the bounded control input, determine the motion model of the tracker-leader, which specifically includes:

利用公式

Figure BDA0003410538520000031
确定跟踪-领导者的运动模型；Use the formula
Figure BDA0003410538520000031
Determine the tracking-leader's movement model;

其中，

Figure BDA0003410538520000032
表示跟踪-领导者的状态，
Figure BDA0003410538520000033
表示跟踪-领导者的控制输入，
Figure BDA0003410538520000034
表示跟踪-领导者的输出，
Figure BDA0003410538520000035
是常数矩阵，v0(t)是有界的，且||r0(t)||∞≤η，η为常数。in,
Figure BDA0003410538520000032
represents the track-leader state,
Figure BDA0003410538520000033
represents the tracking-leader's control input,
Figure BDA0003410538520000034
represents the output of the track-leader,
Figure BDA0003410538520000035
is a constant matrix, v 0 (t) is bounded, and ||r 0 (t)|| ∞ ≤η, η is a constant.

可选地，所述根据跟踪-领导者的运动模型、编队-领导者的状态、所述通信拓扑关系以及时变输出编队向量，构建分布式时变编队跟踪控制器，具体包括：Optionally, the construction of a distributed time-varying formation tracking controller according to the tracking-leader's motion model, the formation-leader state, the communication topology relationship and the time-varying output formation vector specifically includes:

利用公式hyi(t)＝Yihi(t)确定时变输出编队向量；Use the formula h yi (t)=Y i h i (t) to determine the time-varying output formation vector;

利用公式

Figure BDA0003410538520000036
确定分布式时变编队跟踪控制器；Use the formula
Figure BDA0003410538520000036
Determine the distributed time-varying formation tracking controller;

其中，

Figure BDA0003410538520000037
表示编队参量，i＝1,2,…,N，N表示编队-领导者的数量，
Figure BDA0003410538520000038
表示编队输出矩阵，hyi(t)为时变输出编队向量，
Figure BDA0003410538520000039
表示编队-领导者的状态，
Figure BDA00034105385200000310
表示对v0的分布式估计值，
Figure BDA00034105385200000311
表示自适应控制增益；τi表示时变编队跟踪补偿输入，
Figure BDA00034105385200000312
μ表示正常数，K1i、Khi、K2i、Υi和Γi表示增益矩阵，
Figure BDA00034105385200000313
表示非负权重，
Figure BDA00034105385200000314
表示邻居编队-领导者j对v0的分布式估计值。in,
Figure BDA0003410538520000037
represents the formation parameters, i=1,2,…,N, N represents the number of formation-leaders,
Figure BDA0003410538520000038
represents the formation output matrix, h yi (t) is the time-varying output formation vector,
Figure BDA0003410538520000039
represents the state of the formation-leader,
Figure BDA00034105385200000310
represents a distributed estimate of v0 ,
Figure BDA00034105385200000311
represents the adaptive control gain; τ i represents the time-varying formation tracking compensation input,
Figure BDA00034105385200000312
μ represents a positive number, K 1i , K hi , K 2i , Υ i and Γ i represent gain matrices,
Figure BDA00034105385200000313
represents a non-negative weight,
Figure BDA00034105385200000314
represents a distributed estimate of v 0 by neighbor formation-leader j.

可选地，所述根据跟踪-领导者的运动模型、编队-领导者的状态、所述通信拓扑关系以及时变输出编队向量，构建分布式时变编队跟踪控制器，具体还包括：Optionally, according to the motion model of the tracking-leader, the state of the formation-leader, the communication topology relationship and the time-varying output formation vector, constructing a distributed time-varying formation tracking controller specifically further includes:

判断所述时变输出编队向量是否存在补偿输入；judging whether there is a compensation input in the time-varying output formation vector;

若存在，则判断所述补偿输入是否满足公式

Figure BDA00034105385200000315
If it exists, judge whether the compensation input satisfies the formula
Figure BDA00034105385200000315

若满足，则进行构建分布式时变编队跟踪控制器；若不满足，则重新确定时变输出编队向量；If satisfied, construct a distributed time-varying formation tracking controller; if not, re-determine the time-varying output formation vector;

其中，

Figure BDA0003410538520000041
表示常数矩阵，τi(t)表示补偿输入，
Figure BDA0003410538520000042
表示常数矩阵，
Figure BDA0003410538520000043
表示外部输入，Xhi表示满足本地调节器方程的常值矩阵。in,
Figure BDA0003410538520000041
represents the constant matrix, τ i (t) represents the compensation input,
Figure BDA0003410538520000042
represents a constant matrix,
Figure BDA0003410538520000043
represents the external input, and X hi represents a constant-valued matrix that satisfies the local regulator equation.

可选地，所述根据分布式时变编队跟踪控制器以及跟踪-领导者的运动模型构建编队-领导者运动模型；根据编队-领导者运动模型以及分布式合围-跟踪控制器构建跟随者运动模型，具体包括：Optionally, the formation-leader movement model is constructed according to the distributed time-varying formation tracking controller and the movement model of the tracking-leader; the follower movement is constructed according to the formation-leader movement model and the distributed enclosure-tracking controller. models, including:

利用公式

Figure BDA0003410538520000044
确定编队-领导者运动模型和跟随者运动模型；Use the formula
Figure BDA0003410538520000044
Determine the formation-leader movement model and follower movement model;

其中，

Figure BDA0003410538520000045
和
Figure BDA0003410538520000046
分别表示编队-领导者i或跟随者i的状态、控制输入与输出，i＝1,2,…,N+M，M为跟随者的数量，
Figure BDA0003410538520000047
Figure BDA0003410538520000048
是常数矩阵。in,
Figure BDA0003410538520000045
and
Figure BDA0003410538520000046
Respectively represent the state, control input and output of the formation-leader i or follower i, i=1,2,...,N+M, where M is the number of followers,
Figure BDA0003410538520000047
Figure BDA0003410538520000048
is a constant matrix.

可选地，所述根据分布式时变编队跟踪控制器以及跟踪-领导者的运动模型构建编队-领导者运动模型；根据编队-领导者运动模型以及分布式合围-跟踪控制器构建跟随者运动模型，具体还包括：Optionally, the formation-leader movement model is constructed according to the distributed time-varying formation tracking controller and the movement model of the tracking-leader; the follower movement is constructed according to the formation-leader movement model and the distributed enclosure-tracking controller. models, including:

利用公式

Figure BDA0003410538520000049
确定编队-领导者实现期望的时变输出编队跟踪条件；Use the formula
Figure BDA0003410538520000049
Determine the formation-leader to achieve the desired time-varying output formation tracking conditions;

利用公式

Figure BDA00034105385200000410
确定编队-领导者与跟随者实现期望的输出合围条件；Use the formula
Figure BDA00034105385200000410
Determine the formation-leader and follower to achieve the desired output conditions;

其中，yi(t)为编队-领导者i的输出，i＝1,2,…,N，yk(t)跟随者k的输出，ρk,j非负常数，

Figure BDA00034105385200000411
k∈{N+1,N+2,…,N+M}，j＝1,2,…,N。Among them, y i (t) is the output of the formation-leader i, i=1,2,...,N, y k (t) the output of the follower k, ρ k,j are non-negative constants,
Figure BDA00034105385200000411
k∈{N+1,N+2,…,N+M}, j=1,2,…,N.

一种异构无人集群编队合围跟踪控制系统，包括：A heterogeneous unmanned swarm formation encirclement tracking control system, comprising:

智能体划分模块，用于根据异构无人集群系统确定跟踪-领导者、编队-领导者和跟随者；所述跟踪-领导者生成整个异构无人集群系统所跟踪的目标信号；所述编队-领导者和所述跟随者分别为异构无人集群系统中不同类型的智能体；The intelligent body division module is used to determine the tracking-leader, the formation-leader and the follower according to the heterogeneous unmanned swarm system; the tracking-leader generates the target signal tracked by the entire heterogeneous unmanned swarm system; the The formation-leader and the follower are different types of agents in the heterogeneous unmanned swarm system;

跟踪-领导者的运动模型确定模块，用于根据异构无人集群系统宏观运动的状态以及有界的控制输入，确定跟踪-领导者的运动模型；所述跟踪-领导者的运动模型用于生成所述异构无人集群系统整体运动的参考轨迹；The tracking-leader motion model determination module is used to determine the tracking-leader motion model according to the macroscopic motion state of the heterogeneous unmanned swarm system and the bounded control input; the tracking-leader motion model is used for generating a reference trajectory of the overall movement of the heterogeneous unmanned swarm system;

通信拓扑关系获取模块，用于获取异构无人集群系统的通信拓扑关系；所述异构无人集群系统的通信拓扑关系中各跟随者邻居集合的并集包含所有的编队-领导者，跟随者之间的作用拓扑是连通的；领导者之间的作用拓扑以跟踪-领导者为根节点的生成树，且编队-领导者之间的作用拓扑是无向的；The communication topology relationship acquisition module is used to obtain the communication topology relationship of the heterogeneous unmanned swarm system; the union of each follower neighbor set in the communication topology relationship of the heterogeneous unmanned swarm system includes all formations-leaders, follower The role topology between leaders is connected; the role topology between leaders is a spanning tree with tracking-leader as the root node, and the role topology between formation-leaders is undirected;

控制器构建模块，用于根据跟踪-领导者的运动模型、编队-领导者的状态、所述通信拓扑关系以及时变输出编队向量，构建分布式时变编队跟踪控制器；根据编队-领导者的状态以及所述跟随者的状态，构建分布式合围-跟踪控制器；The controller building module is used to construct a distributed time-varying formation tracking controller according to the motion model of the tracking-leader, the state of the formation-leader, the communication topology relationship and the time-varying output formation vector; according to the formation-leader and the state of the follower to construct a distributed enclosure-tracking controller;

运动模型构建模块，用于根据分布式时变编队跟踪控制器以及跟踪-领导者的运动模型构建编队-领导者运动模型；根据编队-领导者运动模型以及分布式合围-跟踪控制器构建跟随者运动模型；The motion model building module is used to construct the formation-leader motion model according to the distributed time-varying formation tracking controller and the tracking-leader motion model; build the follower according to the formation-leader motion model and the distributed enclosure-tracking controller sports model;

时变编队跟踪模块，用于利用编队-领导者运动模型时变编队跟踪所述跟踪-领导者的参考轨迹；a time-varying formation tracking module for tracking the tracking-leader's reference trajectory using the formation-leader motion model time-varying formation;

合围控制模块，用于利用跟随者运动模型将跟随者的输出收敛到所述编队-领导者所形成编队的凸包中。The enclosure control module is configured to use the follower motion model to converge the output of the follower into the convex hull of the formation formed by the formation-leader.

可选地，所述跟踪-领导者的运动模型构建模块具体包括：Optionally, the tracking-leader's motion model building module specifically includes:

跟踪-领导者的运动模型确定单元，用于利用公式

Figure BDA0003410538520000051
确定跟踪-领导者的运动模型；Tracking - leader's kinematic model determination unit for exploiting the formula
Figure BDA0003410538520000051
Determine the tracking-leader's movement model;

其中，

Figure BDA0003410538520000052
表示跟踪-领导者的状态，
Figure BDA0003410538520000053
表示跟踪-领导者的控制输入，
Figure BDA0003410538520000054
表示跟踪-领导者的输出，
Figure BDA0003410538520000055
是常数矩阵，v0(t)是有界的，且||r0(t)||∞≤η，η为常数。in,
Figure BDA0003410538520000052
represents the track-leader state,
Figure BDA0003410538520000053
represents the tracking-leader's control input,
Figure BDA0003410538520000054
represents the output of the track-leader,
Figure BDA0003410538520000055
is a constant matrix, v 0 (t) is bounded, and ||r 0 (t)|| ∞ ≤η, η is a constant.

根据本发明提供的具体实施例，本发明公开了以下技术效果：According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

本发明所提供的一种异构无人集群编队合围跟踪控制方法及系统，将各智能体分为“跟踪-领导者”、“编队-领导者”以及“跟随者”三类，采用具有时变输入的跟踪-领导者来生成集群系统的整体参考轨迹或表示待跟踪的非合作目标，基于自适应控制与滑模变结构控制理论，对编队-领导者与跟随者分别设计了基于边的分布式观测器，最后利用一种预先定义的合围控制策略，使得跟随者的收敛目标值不依赖于通信拓扑，实现了存在切换通信拓扑与领导者未知输入的异构无人集群系统的编队-合围跟踪控制。A heterogeneous unmanned swarm formation encirclement tracking control method and system provided by the present invention divides each agent into three types: "tracking-leader", "formation-leader" and "follower". The tracking-leader with variable input is used to generate the overall reference trajectory of the swarm system or represent the non-cooperative target to be tracked. The distributed observer finally uses a pre-defined enclosure control strategy, so that the convergence target value of the follower does not depend on the communication topology, and realizes the formation of heterogeneous unmanned swarm systems with switching communication topology and unknown input of the leader- Enclosure tracking control.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

图1为本发明所提供的一种异构无人集群编队合围跟踪控制方法流程示意图；1 is a schematic flowchart of a method for encircling and tracking control of a heterogeneous unmanned swarm formation provided by the present invention;

图2为可能的作用拓扑；Figure 2 is a possible action topology;

图3为多无人机-无人车系统在t＝30s内的位置轨迹以及在指定时刻t＝0，15，25，30s的位置截图；Figure 3 is a screenshot of the position trajectory of the multi-UAV-UAV system within t=30s and the position of the specified time t=0, 15, 25, 30s;

图4为编队-领导者的输出编队跟踪误差曲线；Figure 4 is the formation-leader output formation tracking error curve;

图5为跟随者的输出合围误差曲线；Figure 5 is the output closing error curve of the follower;

图6为本发明所提供的一种异构无人集群编队合围跟踪控制系统结构示意图。FIG. 6 is a schematic structural diagram of a heterogeneous unmanned swarm formation encirclement tracking control system provided by the present invention.

图中标号说明如下：The labels in the figure are explained as follows:

五角星：跟踪-领导者无人机i＝0；菱形、上三角形、圆形与右三角形：编队-领导者无人机i＝1,2,...4；正方形：跟随者无人车i＝5,6,...10；Pentagram: tracking-leader drone i=0; diamond, upper triangle, circle and right triangle: formation-leader drone i=1,2,...4; square: follower drone i=5,6,...10;

Figure BDA0003410538520000061
编队-领导者的输出编队跟踪误差的欧几里得范数
Figure BDA0003410538520000061
Formation - Euclidean norm of the leader's output formation tracking error

Figure BDA0003410538520000062
跟随者的输出合围误差的欧几里得范数
Figure BDA0003410538520000062
Euclidean norm of the follower's output range error

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

本发明的目的是提供一种异构无人集群编队合围跟踪控制方法及系统，实现存在切换通信拓扑与领导者未知输入的异构无人集群系统的编队-合围跟踪控制。The purpose of the present invention is to provide a heterogeneous unmanned swarm formation enclosing tracking control method and system to realize formation-enclosing tracking control of heterogeneous unmanned swarm systems with switching communication topology and unknown leader input.

为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

图1为本发明所提供的一种异构无人集群编队合围跟踪控制方法流程示意图，如图1所示，本发明所提供的一种异构无人集群编队合围跟踪控制方法，包括：1 is a schematic flowchart of a method for tracking and controlling a heterogeneous unmanned swarm formation provided by the present invention. As shown in FIG. 1 , a method for tracking and controlling a heterogeneous unmanned swarm formation provided by the present invention includes:

S101，根据异构无人集群系统确定跟踪-领导者、编队-领导者和跟随者；所述跟踪-领导者生成整个异构无人集群系统所跟踪的目标信号；所述编队-领导者和所述跟随者分别为异构无人集群系统中不同类型的智能体；跟踪-领导者没有邻居，编队-领导者的邻居只包括领导者，跟随者的邻居为编队-领导者或其他的跟随者。考虑由N+M+1个智能体所构成的高阶异构无人集群系统，其中，i＝0表示跟踪-领导者，i＝1,2,…,N表示编队-领导者，i＝N+1,N+2,…,N+M表示跟随者。S101, determining a tracking-leader, a formation-leader, and a follower according to the heterogeneous unmanned swarm system; the tracking-leader generates a target signal tracked by the entire heterogeneous unmanned swarm system; the formation-leader and The followers are different types of agents in the heterogeneous unmanned swarm system; the tracking-leader has no neighbors, the formation-leader's neighbors only include the leader, and the follower's neighbors are the formation-leader or other followers. By. Consider a high-order heterogeneous unmanned swarm system composed of N+M+1 agents, where i=0 means tracking-leader, i=1,2,...,N means formation-leader, i= N+1, N+2,...,N+M represent followers.

S102，根据异构无人集群系统宏观运动的状态以及有界的控制输入，确定跟踪-领导者的运动模型；所述跟踪-领导者的运动模型用于生成所述异构无人集群系统整体运动的参考轨迹；S102, according to the macroscopic motion state of the heterogeneous unmanned swarm system and the bounded control input, determine a tracking-leader motion model; the tracking-leader motion model is used to generate the overall heterogeneous unmanned swarm system The reference trajectory of the movement;

S102具体包括：S102 specifically includes:

利用公式

Figure BDA0003410538520000071
确定跟踪-领导者的运动模型；Use the formula
Figure BDA0003410538520000071
Determine the tracking-leader's movement model;

其中，

Figure BDA0003410538520000072
表示跟踪-领导者的状态，
Figure BDA0003410538520000073
表示跟踪-领导者的控制输入，
Figure BDA0003410538520000074
表示跟踪-领导者的输出，
Figure BDA0003410538520000075
是常数矩阵，v0(t)是有界的，且||r0(t)||∞≤η，η为常数。in,
Figure BDA0003410538520000072
represents the track-leader state,
Figure BDA0003410538520000073
represents the tracking-leader's control input,
Figure BDA0003410538520000074
represents the output of the track-leader,
Figure BDA0003410538520000075
is a constant matrix, v 0 (t) is bounded, and ||r 0 (t)|| ∞ ≤η, η is a constant.

S103，获取异构无人集群系统的通信拓扑关系；所述异构无人集群系统的通信拓扑关系中各跟随者邻居集合的并集包含所有的编队-领导者，跟随者之间的作用拓扑是连通的；领导者之间的作用拓扑以跟踪-领导者为根节点的生成树，且编队-领导者之间的作用拓扑是无向的；S103, obtaining the communication topology relationship of the heterogeneous unmanned swarm system; the union of each follower neighbor set in the communication topology relationship of the heterogeneous unmanned swarm system includes all formations-leaders, and the role topology between the followers is connected; the role topology between leaders is a spanning tree with tracking-leader as the root node, and the role topology between formation-leaders is undirected;

S103具体包括：S103 specifically includes:

异构无人集群的通信拓扑可用图

Figure BDA0003410538520000081
表示，
Figure BDA0003410538520000082
表示节点集合，
Figure BDA0003410538520000083
表示边集合，
Figure BDA0003410538520000084
表示具有非负权重wij的邻接矩阵。令εij＝(vi,vj)表示图
Figure BDA0003410538520000085
中从节点vi到节点vj的一条边。权重wij＞0当且仅当εji∈ε，否则wij＝0。用
Figure BDA0003410538520000086
表示节点vi的邻居集合。将图
Figure BDA0003410538520000087
的入度矩阵定义为
Figure BDA0003410538520000088
其中，
Figure BDA0003410538520000089
(i＝1,2,…,N)表示节点vi的入度。定义图
Figure BDA00034105385200000810
的拉普拉斯矩阵为
Figure BDA00034105385200000811
Communication topology availability diagram for heterogeneous unmanned clusters
Figure BDA0003410538520000081
express,
Figure BDA0003410538520000082
represents a collection of nodes,
Figure BDA0003410538520000083
represents the set of edges,
Figure BDA0003410538520000084
represents an adjacency matrix with non-negative weights w ij . Let ε ij =(vi ,v j ) represent the graph
Figure BDA0003410538520000085
An edge from node v i to node v j in . The weight w ij > 0 if and only if ε ji ∈ ε, otherwise w ij =0. use
Figure BDA0003410538520000086
represents the set of neighbors of node v i . map
Figure BDA0003410538520000087
The in-degree matrix of is defined as
Figure BDA0003410538520000088
in,
Figure BDA0003410538520000089
(i=1,2,...,N) represents the in-degree of node v i . Definition diagram
Figure BDA00034105385200000810
The Laplace matrix is
Figure BDA00034105385200000811

考虑集群系统存在切换拓扑的场景，将所有可能的作用拓扑的下标集合记为

Figure BDA00034105385200000812
令[tl,tl+1)(l＝0,1,2…)表示一个无限序列的一致有界非重叠时间区间，其中，tl+1-tl≥τd＞0。作用拓扑在时刻tl+1发生切换。令σ(t):[0,∞)→{1,2,…,z}表示切换信号，其取值为当前图的序号。在时刻t，作用图和对应的拉普拉斯矩阵分别记为
Figure BDA00034105385200000813
与
Figure BDA00034105385200000814
为保证各编队-领导者都能在合围控制中发挥作用，要求各跟随者邻居集合的并集包含所有的编队-领导者。假设对于任意可能的作用拓扑
Figure BDA00034105385200000815
领导者之间的作用拓扑
Figure BDA00034105385200000816
具有以跟踪-领导者为根节点的生成树，且编队-领导者之间的作用拓扑是无向的；跟随者之间的作用拓扑
Figure BDA00034105385200000817
是连通的。将对应于图
Figure BDA00034105385200000818
与
Figure BDA00034105385200000819
的拉普拉斯矩阵分别记作
Figure BDA00034105385200000820
与
Figure BDA00034105385200000821
可以划分为
Figure BDA00034105385200000822
此时可知
Figure BDA00034105385200000823
为正定矩阵。Considering the scenario of switching topology in the cluster system, mark the set of subscripts of all possible active topologies as
Figure BDA00034105385200000812
Let [t l ,t l+1 )(l=0,1,2...) denote an infinite sequence of uniformly bounded non-overlapping time intervals, where t l+1 -t l ≥τ d >0. The active topology is switched at time tl +1 . Let σ(t):[0,∞)→{1,2,…,z} represent the switching signal, and its value is the sequence number of the current graph. At time t, the action map and the corresponding Laplace matrix are denoted as
Figure BDA00034105385200000813
and
Figure BDA00034105385200000814
In order to ensure that each formation-leader can play a role in enclosing control, it is required that the union of each follower's neighbor set includes all formation-leaders. Assume that for any possible action topology
Figure BDA00034105385200000815
Topology of role between leaders
Figure BDA00034105385200000816
It has a spanning tree with a tracking-leader as the root node, and the role topology between formation-leaders is undirected; the role topology between followers
Figure BDA00034105385200000817
is connected. will correspond to the graph
Figure BDA00034105385200000818
and
Figure BDA00034105385200000819
The Laplace matrix of , respectively, is written as
Figure BDA00034105385200000820
and
Figure BDA00034105385200000821
can be divided into
Figure BDA00034105385200000822
It is known at this time
Figure BDA00034105385200000823
is a positive definite matrix.

S104，根据跟踪-领导者的运动模型、编队-领导者的状态、所述通信拓扑关系以及时变输出编队向量，构建分布式时变编队跟踪控制器；根据编队-领导者的状态以及所述跟随者的状态，构建分布式合围-跟踪控制器；即对编队-领导者(i＝1,2,…,N)，利用时变向量

Figure BDA00034105385200000824
刻画其期望的时变输出编队，其中，hyi(t)(i＝1,2,…,N)是分段连续可导的S104, construct a distributed time-varying formation tracking controller according to the motion model of the tracking-leader, the state of the formation-leader, the communication topology relationship and the time-varying output formation vector; according to the state of the formation-leader and the The state of the followers, construct a distributed enclosure-tracking controller; that is, for the formation-leader (i=1,2,...,N), use the time-varying vector
Figure BDA00034105385200000824
Characterize its desired time-varying output formation, where h yi (t) (i=1,2,...,N) is piecewise continuously differentiable

对于编队-领导者i(i＝1,2,...N)，期望的时变输出编队向量hyi(t)由以下的本地外系统产生：For formation-leader i (i=1,2,...N), the desired time-varying output formation vector h yi (t) is generated by the following local exosystem:

Figure BDA0003410538520000091
Figure BDA0003410538520000091

式中：

Figure BDA0003410538520000092
表示编队参量，
Figure BDA0003410538520000093
表示外部输入，
Figure BDA0003410538520000094
表示编队状态矩阵，
Figure BDA0003410538520000095
表示常数矩阵，
Figure BDA0003410538520000096
表示时变输出编队向量，
Figure BDA0003410538520000097
表示编队输出矩阵。通过有界外部输入ri(t)来产生更一般的时变编队类型，要求hi(t)是有界的。where:
Figure BDA0003410538520000092
represents the formation parameter,
Figure BDA0003410538520000093
represents an external input,
Figure BDA0003410538520000094
represents the formation state matrix,
Figure BDA0003410538520000095
represents a constant matrix,
Figure BDA0003410538520000096
represents the time-varying output formation vector,
Figure BDA0003410538520000097
Represents the formation output matrix. A more general time-varying formation type is generated by bounding the external input ri (t), requiring hi (t) to be bounded.

利用公式

Figure BDA0003410538520000098
确定分布式时变编队跟踪控制器；Use the formula
Figure BDA0003410538520000098
Determine the distributed time-varying formation tracking controller;

其中，

Figure BDA0003410538520000099
表示编队参量，i＝1,2,…,N，N表示编队-领导者的数量，
Figure BDA00034105385200000910
表示编队输出矩阵，hyi(t)为时变输出编队向量，
Figure BDA00034105385200000911
表示编队-领导者的状态，
Figure BDA00034105385200000912
表示对v0的分布式估计值，
Figure BDA00034105385200000913
表示自适应控制增益；τi表示时变编队跟踪补偿输入，
Figure BDA00034105385200000914
μ表示正常数，K1i、Khi、K2i、Υi和Γi表示增益矩阵，
Figure BDA00034105385200000915
表示非负权重，
Figure BDA00034105385200000916
表示邻居编队-领导者j对v0的分布式估计值。in,
Figure BDA0003410538520000099
represents the formation parameters, i=1,2,…,N, N represents the number of formation-leaders,
Figure BDA00034105385200000910
represents the formation output matrix, h yi (t) is the time-varying output formation vector,
Figure BDA00034105385200000911
represents the state of the formation-leader,
Figure BDA00034105385200000912
represents a distributed estimate of v0 ,
Figure BDA00034105385200000913
represents the adaptive control gain; τ i represents the time-varying formation tracking compensation input,
Figure BDA00034105385200000914
μ represents a positive number, K 1i , K hi , K 2i , Υ i and Γ i represent gain matrices,
Figure BDA00034105385200000915
represents a non-negative weight,
Figure BDA00034105385200000916
represents a distributed estimate of v 0 by neighbor formation-leader j.

利用公式

Figure BDA00034105385200000917
确定分布式合围-跟踪控制器；Use the formula
Figure BDA00034105385200000917
Determine the distributed enclosure-tracking controller;

其中，

Figure BDA00034105385200000918
Figure BDA00034105385200000919
Figure BDA00034105385200000920
表示第i个跟随者对xj(j∈{1,2,…,N})的分布式估计值，
Figure BDA00034105385200000921
(j∈{1,2,…,N})和
Figure BDA00034105385200000922
(k∈{N+1,N+2,…,N+M})表示自适应增益；
Figure BDA00034105385200000923
满足
Figure BDA00034105385200000924
的非负常数ρi,j表示预先定义的权重值，用以确定多编队-领导者输出的期望凸组合，κ表示正常数，K3i、
Figure BDA0003410538520000101
Υi,j和Qi,j表示增益矩阵。in,
Figure BDA00034105385200000918
Figure BDA00034105385200000919
Figure BDA00034105385200000920
represents the distributed estimate of the i-th follower for x j (j∈{1,2,…,N}),
Figure BDA00034105385200000921
(j∈{1,2,…,N}) and
Figure BDA00034105385200000922
(k∈{N+1,N+2,…,N+M}) represents the adaptive gain;
Figure BDA00034105385200000923
Satisfy
Figure BDA00034105385200000924
The non-negative constant ρ i,j represents the predefined weight value to determine the expected convex combination of the multi-formation-leader output, κ represents a positive number, K 3i ,
Figure BDA0003410538520000101
Υ i,j and Q i,j represent gain matrices.

S104具体还包括：S104 also includes:

判断所述时变输出编队向量是否存在补偿输入；judging whether there is a compensation input in the time-varying output formation vector;

若存在，则判断所述补偿输入是否满足公式

Figure BDA0003410538520000102
If it exists, judge whether the compensation input satisfies the formula
Figure BDA0003410538520000102

若满足，则进行构建分布式时变编队跟踪控制器；若不满足，则重新确定时变输出编队向量；If satisfied, construct a distributed time-varying formation tracking controller; if not, re-determine the time-varying output formation vector;

即若满足，则分布式时变编队跟踪控制器中的自适应参数

Figure BDA0003410538520000103
(j∈{0,1,…,N})的更新律为：
Figure BDA0003410538520000104
That is, if satisfied, then the adaptive parameters in the distributed time-varying formation tracking controller
Figure BDA0003410538520000103
The update law of (j∈{0,1,…,N}) is:
Figure BDA0003410538520000104

式中：初值

Figure BDA0003410538520000105
且有
Figure BDA0003410538520000106
k＝1,2,…,N。选取充分大的μ使得μ≥η。设计增益矩阵K1i使得Ai+BiK1i是Hurwitz，令Khi＝Uhi-K1iXhi，K2i＝Ui-K1iXi，选取Υi使得BiΥi-XiE＝0成立。令Γi＝ΦiBiΥi，Φi为正定矩阵，满足如下的Lyapunov方程：Φi(Ai+BiK1i)+(Ai+BiK1i)TΦi＝-Ini；where: initial value
Figure BDA0003410538520000105
and have
Figure BDA0003410538520000106
k=1,2,...,N. A sufficiently large μ is chosen such that μ≧η. Design the gain matrix K 1i such that A i +B i K 1i is Hurwitz, let K hi =U hi -K 1i X hi , K 2i =U i -K 1i X i , choose Υ i such that B i Υ i -X i E=0 is established. Let Γ i =Φ i B i Υ i , and Φ i be a positive definite matrix, which satisfies the following Lyapunov equation: Φ i (A i +B i K 1i )+(A i +B i K 1i ) T Φ i =-I ni ;

随后针对跟随者i(i＝N+1,…,N+M)的分布式合围-跟踪控制器中的增益进行自适应设计。自适应参数

Figure BDA0003410538520000107
(j∈{1,2,…,N})和
Figure BDA0003410538520000108
(k∈{N+1,…,N+M})的更新律如下：
Figure BDA0003410538520000109
The gain in the distributed enclosure-tracking controller for followers i (i=N+1, . . . , N+M) is then adaptively designed. adaptive parameters
Figure BDA0003410538520000107
(j∈{1,2,…,N}) and
Figure BDA0003410538520000108
The update law of (k∈{N+1,…,N+M}) is as follows:
Figure BDA0003410538520000109

式中：自适应参数初值

Figure BDA00034105385200001010
选取充分大的正常数κ满足
Figure BDA00034105385200001011
其中，θj(j∈{1,2,…,N})表示编队-领导者j控制输入的上界，即||uj||∞≤θj。类似地，设计增益矩阵K3i使得Ai+BiK3i是Hurwitz，令
Figure BDA00034105385200001012
(j∈{1,2,…,N})，选取Υi,j(j∈{1,2,…,N})使得BiΥi,j-Xi,jBj＝0成立。令Qi,j＝PiBiΥi,j，Pi表示正定矩阵，满足以下的Lyapunov方程：
Figure BDA00034105385200001013
In the formula: the initial value of the adaptive parameter
Figure BDA00034105385200001010
Choose a sufficiently large positive constant κ to satisfy
Figure BDA00034105385200001011
where θ j (j∈{1,2,…,N}) represents the upper bound on the control input of formation-leader j, ie ||u j || ∞ ≤θ j . Similarly, designing the gain matrix K 3i such that A i +B i K 3i is Hurwitz, let
Figure BDA00034105385200001012
(j∈{1,2,...,N}), select Υ i,j (j∈{1,2,...,N}) so that B i Υ i,j -X i,j B j =0 is established. Let Q i,j =P i B i Υ i,j , where P i represents a positive definite matrix, which satisfies the following Lyapunov equation:
Figure BDA00034105385200001013

其中，

Figure BDA00034105385200001014
表示常数矩阵，τi(t)表示补偿输入，
Figure BDA00034105385200001015
表示常数矩阵，
Figure BDA00034105385200001016
表示外部输入，Xhi表示满足本地调节器方程的常值矩阵。in,
Figure BDA00034105385200001014
represents the constant matrix, τ i (t) represents the compensation input,
Figure BDA00034105385200001015
represents a constant matrix,
Figure BDA00034105385200001016
represents the external input, and X hi represents a constant-valued matrix that satisfies the local regulator equation.

S105，根据分布式时变编队跟踪控制器以及跟踪-领导者的运动模型构建编队-领导者运动模型；根据编队-领导者运动模型以及分布式合围-跟踪控制器构建跟随者运动模型；S105, construct a formation-leader motion model according to the distributed time-varying formation tracking controller and the tracking-leader motion model; construct a follower motion model according to the formation-leader motion model and the distributed enclosure-tracking controller;

S105具体包括：S105 specifically includes:

利用公式

Figure BDA0003410538520000111
确定编队-领导者运动模型和跟随者运动模型；Use the formula
Figure BDA0003410538520000111
Determine the formation-leader movement model and follower movement model;

其中，

Figure BDA0003410538520000112
和
Figure BDA0003410538520000113
分别表示编队-领导者i或跟随者i的状态、控制输入与输出，i＝1,2,…,N+M，M为跟随者的数量，
Figure BDA0003410538520000114
Figure BDA0003410538520000115
是常数矩阵。in,
Figure BDA0003410538520000112
and
Figure BDA0003410538520000113
Respectively represent the state, control input and output of the formation-leader i or follower i, i=1,2,...,N+M, where M is the number of followers,
Figure BDA0003410538520000114
Figure BDA0003410538520000115
is a constant matrix.

其中，选取常值矩阵(Xi,Ui)(i＝1,2,…,N)，使得调节器方程

Figure BDA0003410538520000116
成立；Among them, the constant value matrix (X i ,U i )(i=1,2,...,N) is selected, so that the regulator equation
Figure BDA0003410538520000116
established;

选取常值矩阵(Xhi,Uhi)(i＝1,2,…,N)，使得调节器方程

Figure BDA0003410538520000117
成立。The constant value matrix (X hi , U hi ) (i=1,2,...,N) is chosen such that the regulator equation
Figure BDA0003410538520000117
established.

选取常值矩阵(Xi,j,Ui,j)(i＝N+1,…,N+M，j＝1,2,…,N)使得调节器方程

Figure BDA0003410538520000118
成立。The constant value matrix (X i,j ,U i,j )(i=N+1,...,N+M,j=1,2,...,N) is chosen such that the regulator equation
Figure BDA0003410538520000118
established.

S105具体还包括：S105 also includes:

利用公式

Figure BDA0003410538520000119
确定编队-领导者实现期望的时变输出编队跟踪条件；Use the formula
Figure BDA0003410538520000119
Determine the formation-leader to achieve the desired time-varying output formation tracking conditions;

利用公式

Figure BDA00034105385200001110
确定编队-领导者与跟随者实现期望的输出合围条件；Use the formula
Figure BDA00034105385200001110
Determine the formation-leader and follower to achieve the desired output conditions;

其中，yi(t)为编队-领导者i的输出，i＝1,2,…,N，yk(t)跟随者k的输出，ρk,j非负常数，

Figure BDA00034105385200001111
k∈{N+1,N+2,…,N+M}，j＝1,2,…,N。Among them, y i (t) is the output of the formation-leader i, i=1,2,...,N, y k (t) the output of the follower k, ρ k,j are non-negative constants,
Figure BDA00034105385200001111
k∈{N+1,N+2,…,N+M}, j=1,2,…,N.

如果对于任意的编队-领导者i(i∈{1,2,…,N})以及跟随者k(k∈{N+1,N+2,…,N+M})，同时满足上述时变输出编队跟踪与输出合围控制条件，则称高阶异构集群系统实现了期望的输出编队-合围跟踪。If for any formation-leader i(i∈{1,2,...,N}) and follower k(k∈{N+1,N+2,...,N+M}), the above conditions are satisfied at the same time If the output formation tracking and output enclosure control conditions are changed, it is said that the high-order heterogeneous cluster system achieves the desired output formation-enclosure tracking.

S106，利用编队-领导者运动模型时变编队跟踪所述跟踪-领导者的参考轨迹；S106, using the formation-leader movement model time-varying formation to track the tracking-leader's reference trajectory;

S107，利用跟随者运动模型将跟随者的输出收敛到所述编队-领导者所形成编队的凸包中。S107, using the follower motion model to converge the output of the follower into the convex hull of the formation formed by the formation-leader.

将编队-合围跟踪控制方法应用到多无人机-无人车异构系统的空地协同巡逻应用场景，考虑由4架无人机和6辆无人车组成的异构无人集群系统，跟踪-领导者i＝0代表异构多机器人系统的整体参考轨迹，编队-领导者i＝1,2,3,4表示四旋翼无人机，跟随者i＝5,6,…,10表示麦克纳姆轮无人车。多无人机在空中形成期望的编队跟踪，同时多无人车能够收敛到多无人机所形成凸包在地面的投影内，多机器人系统以编队-合围跟踪的形式执行协同巡逻任务。由于四旋翼无人机的高度方向可以单独控制，以下仅考虑二维平面(X-Y平面)内的运动情况。假设多机器人系统的作用拓扑存在切换，所有可能的拓扑如图2所示，设作用拓扑在

Figure BDA0003410538520000121
与
Figure BDA0003410538520000122
之间每5s切换一次，且其初始作用拓扑为
Figure BDA0003410538520000123
The formation-enclosure tracking control method is applied to the air-ground cooperative patrol application scenario of the multi-UAV-UAV heterogeneous system. Considering a heterogeneous unmanned swarm system composed of 4 UAVs and 6 unmanned vehicles, tracking - Leader i = 0 represents the overall reference trajectory of the heterogeneous multi-robot system, formation - Leader i = 1, 2, 3, 4 represents quadrotor UAV, follower i = 5, 6, ..., 10 represents Mike Nam wheel unmanned vehicle. Multiple UAVs form the desired formation tracking in the air, and at the same time, multiple UAVs can converge into the projection of the convex hull formed by multiple UAVs on the ground. The multi-robot system performs cooperative patrol tasks in the form of formation-encirclement tracking. Since the height direction of the quadrotor UAV can be controlled independently, only the motion in the two-dimensional plane (XY plane) is considered below. Assuming that the action topology of the multi-robot system is switched, all possible topologies are shown in Figure 2, and the action topology is set at
Figure BDA0003410538520000121
and
Figure BDA0003410538520000122
It switches every 5s, and its initial function topology is
Figure BDA0003410538520000123

考虑如下的跟踪-领导者模型：

Figure BDA0003410538520000124
设其未知控制输入为Consider the following track-leader model:
Figure BDA0003410538520000124
Let its unknown control input be

r0(t)＝[0.1cos(0.1t),0.1sin(0.1t)]T。r 0 (t)=[0.1cos(0.1t),0.1sin(0.1t)] T .

基于内外环控制架构，四旋翼无人机在外回路(位置-速度回路)的运动学模型可近似表示，其中

Figure BDA0003410538520000125
(i＝1,2,3,4)，分别取
Figure BDA0003410538520000126
采用反馈线性化技术，麦克纳姆轮无人车的运动学模型也可近似由(2)表示，其中，Ai＝02×2，Bi＝I2，Ci＝I2(i＝5,6,…,10)。各无人机的状态变量由位置与速度组成，输出为位置；各无人车的状态与输出皆表示位置。Based on the inner and outer loop control architecture, the kinematic model of the quadrotor UAV in the outer loop (position-velocity loop) can be approximated, where
Figure BDA0003410538520000125
(i=1, 2, 3, 4), take respectively
Figure BDA0003410538520000126
Using the feedback linearization technology, the kinematic model of the Mecanum wheel unmanned vehicle can also be approximately represented by (2), where A i =0 2×2 , B i =I 2 , C i =I 2 (i= 5,6,…,10). The state variables of each UAV are composed of position and speed, and the output is the position; the state and output of each UAV represent the position.

四架无人机作为编队-领导者，在指定高度进行定高飞行，即在Z轴方向进行单独控制。要求无人机在X-Y平面内形成正方形编队，期望的输出编队向量表示为

Figure BDA0003410538520000127
其中，hy1＝[-1,1]T，hy2＝[1,1]T，hy3＝[1,-1]T，hy4＝[-1,-1]T。为生成hy，易知本地外系统中的矩阵可选取为Hi＝02×2，Ri＝02×2，Yi＝I2(i＝1,2,3,4)。六辆无人车需要收敛到多无人机所形成的凸包在地面的投影内，为刻画各无人车的期望收敛值，定义权重向量ρi＝[ρi,1,ρi,2,ρi,3,ρi,4](i＝5,6,…,10)，并选取The four UAVs act as a formation-leader and fly at a fixed height at a designated height, that is, they are individually controlled in the Z-axis direction. The drones are required to form a square formation in the XY plane, and the desired output formation vector is expressed as
Figure BDA0003410538520000127
Wherein, h y1 =[-1,1] T , h y2 =[1,1] T , h y3 =[1,-1] T , h y4 =[-1,-1] T . In order to generate hy , it is easy to know that the matrix in the local external system can be selected as H i =0 2×2 , R i =0 2×2 , Y i =I 2 ( i =1,2,3,4). The six unmanned vehicles need to converge to the projection of the convex hull formed by multiple unmanned vehicles on the ground. In order to describe the expected convergence value of each unmanned vehicle, a weight vector ρ i =[ρ i,1 ,ρ i,2 ,ρ i,3 ,ρ i,4 ](i=5,6,...,10), and choose

Figure BDA0003410538520000131
Figure BDA0003410538520000131

Figure BDA0003410538520000132
Figure BDA0003410538520000132

Figure BDA0003410538520000133
Figure BDA0003410538520000133

对编队-合围跟踪控制器进行设计。首先，分别选取X1＝X2＝I4，

Figure BDA0003410538520000134
X3＝X4＝I4，
Figure BDA0003410538520000135
Figure BDA0003410538520000136
(i＝5,6,…,10，j＝1,2,3,4)，可以验证调节器方程成立。然后，设计编队-领导者无人机i(i＝1,2,3,4)的控制器。由于Ri＝02×2，令补偿输入τi＝02×1，可知可行性条件(11)对于各个编队-领导者都成立。选取自适应参数
Figure BDA0003410538520000137
的初值为
Figure BDA0003410538520000138
(i＝1,2,3,4，j＝0,1,…,4)。令μ＝1，Design the formation-encirclement tracking controller. First, select X 1 =X 2 =I 4 respectively,
Figure BDA0003410538520000134
X 3 =X 4 =I 4 ,
Figure BDA0003410538520000135
Figure BDA0003410538520000136
(i=5,6,...,10, j=1,2,3,4), it can be verified that the regulator equation holds. Then, the controller of the formation-leader UAV i (i=1, 2, 3, 4) is designed. Since R i =0 2×2 and the compensation input τ i =0 2×1 , it can be seen that the feasibility condition (11) holds true for each formation-leader. Choose adaptive parameters
Figure BDA0003410538520000137
The initial value of
Figure BDA0003410538520000138
(i=1, 2, 3, 4, j=0, 1, . . . , 4). Let μ=1,

Figure BDA0003410538520000139
Υi＝I2(i＝1,2,3,4)。
Figure BDA0003410538520000139
Y i =I 2 (i=1, 2, 3, 4).

最后，设计跟随者无人车i(i＝5,6,…,10)的控制器。令自适应参数

Figure BDA00034105385200001310
与
Figure BDA00034105385200001311
的初值为
Figure BDA00034105385200001312
选取K3i＝-I2和Υi,j＝02×2(j＝1,2,3,4)。跟踪-领导者的初始状态为v0(0)＝[-20,0,0,-1]T，编队-领导者与跟随者的初始状态由随机数产生。Finally, the controller of the follower unmanned vehicle i (i=5,6,...,10) is designed. Let the adaptive parameter
Figure BDA00034105385200001310
and
Figure BDA00034105385200001311
The initial value of
Figure BDA00034105385200001312
Choose K 3i =-I 2 and Y i,j =0 2×2 (j=1,2,3,4). The initial state of the tracking-leader is v 0 (0)=[-20,0,0,-1] T , and the initial state of the formation-leader and follower is generated by random numbers.

仿真结果如图3-图5所示。图3给出了无人机-无人车异构集群系统在t＝30s内的位置轨迹以及在不同时刻的位置截图(t＝0,15,25,30s)，其中，五角星表示跟踪-领导者i＝0；菱形、上三角形、圆形与右三角形分别表示编队-领导者无人机i＝1,2,3,4；正方形表示跟随者无人车i＝5,6,…,10。图4与图5分别给出了编队-领导者的输出编队跟踪误差以及跟随者的输出合围误差曲线。由图3-5可知，四架无人机形成了期望的正方形编队，且能够实现对跟踪-领导者运动轨迹的跟踪，同时六辆跟随者无人车能够收敛到多无人机所形成的凸包在地面的投影内。因此，多无人机-无人车异构集群系统实现了期望的输出编队-合围跟踪。The simulation results are shown in Figures 3-5. Figure 3 shows the position trajectory of the UAV-UAV heterogeneous swarm system within t=30s and the position screenshots at different times (t=0, 15, 25, 30s), where the five-pointed star represents the tracking- Leader i=0; diamond, upper triangle, circle and right triangle respectively represent formation-leader drone i=1,2,3,4; square represents follower drone i=5,6,…, 10. Figures 4 and 5 show the formation-leader's output formation tracking error and the follower's output enclosure error curves, respectively. It can be seen from Figure 3-5 that the four UAVs form the desired square formation, and can track the tracking-leader trajectory, and the six follower UAVs can converge to the formation formed by the multiple UAVs. The convex hull is within the projection of the ground. Therefore, the multi-UAV-UAV heterogeneous swarm system achieves the desired output formation-encircling tracking.

图6为本发明所提供的一种异构无人集群编队合围跟踪控制系统结构示意图，如图6所示，本发明所提供的一种异构无人集群编队合围跟踪控制系统，其特征在于，包括：FIG. 6 is a schematic structural diagram of a heterogeneous unmanned swarm formation encirclement tracking control system provided by the present invention. As shown in FIG. 6 , a heterogeneous unmanned swarm formation encirclement tracking control system provided by the present invention is characterized in that ,include:

智能体划分模块601，用于根据异构无人集群系统确定跟踪-领导者、编队-领导者和跟随者；所述跟踪-领导者生成整个异构无人集群系统所跟踪的目标信号；所述编队-领导者和所述跟随者分别为异构无人集群系统中不同类型的智能体；The agent division module 601 is used to determine the tracking-leader, the formation-leader and the follower according to the heterogeneous unmanned swarm system; the tracking-leader generates the target signal tracked by the entire heterogeneous unmanned swarm system; The formation-leader and the follower are different types of agents in the heterogeneous unmanned swarm system;

跟踪-领导者的运动模型确定模块602，用于根据异构无人集群系统宏观运动的状态以及有界的控制输入，确定跟踪-领导者的运动模型；所述跟踪-领导者的运动模型用于生成所述异构无人集群系统整体运动的参考轨迹；The tracking-leader motion model determination module 602 is configured to determine the tracking-leader motion model according to the macroscopic motion state of the heterogeneous unmanned swarm system and the bounded control input; the tracking-leader motion model uses for generating the reference trajectory of the overall motion of the heterogeneous unmanned swarm system;

通信拓扑关系获取模块603，用于获取异构无人集群系统的通信拓扑关系；所述异构无人集群系统的通信拓扑关系中各跟随者邻居集合的并集包含所有的编队-领导者，跟随者之间的作用拓扑是连通的；领导者之间的作用拓扑以跟踪-领导者为根节点的生成树，且编队-领导者之间的作用拓扑是无向的；The communication topology relationship obtaining module 603 is used to obtain the communication topology relationship of the heterogeneous unmanned swarm system; the union of each follower neighbor set in the communication topology relationship of the heterogeneous unmanned swarm system includes all formations-leaders, The role topology between followers is connected; the role topology between leaders is a spanning tree with tracking-leader as the root node, and the role topology between formation-leader is undirected;

控制器构建模块604，用于根据跟踪-领导者的运动模型、编队-领导者的状态、所述通信拓扑关系以及时变输出编队向量，构建分布式时变编队跟踪控制器；根据编队-领导者的状态以及所述跟随者的状态，构建分布式合围-跟踪控制器；The controller building module 604 is used to construct a distributed time-varying formation tracking controller according to the motion model of the tracking-leader, the state of the formation-leader, the communication topology relationship and the time-varying output formation vector; according to the formation-leader The state of the follower and the state of the follower, construct a distributed enclosure-tracking controller;

运动模型构建模块605，用于根据分布式时变编队跟踪控制器以及跟踪-领导者的运动模型构建编队-领导者运动模型；根据编队-领导者运动模型以及分布式合围-跟踪控制器构建跟随者运动模型；The movement model building module 605 is used for building a formation-leader movement model according to the distributed time-varying formation tracking controller and the movement model of the tracking-leader; building a follower according to the formation-leader movement model and the distributed enclosure-tracking controller player movement model;

时变编队跟踪模块606，用于利用编队-领导者运动模型时变编队跟踪所述跟踪-领导者的参考轨迹；a time-varying formation tracking module 606, configured to track the tracking-leader's reference trajectory using the formation-leader movement model time-varying formation tracking;

合围控制模块607，用于利用跟随者运动模型将跟随者的输出收敛到所述编队-领导者所形成编队的凸包中。The enclosure control module 607 is configured to use the follower motion model to converge the output of the follower into the convex hull of the formation formed by the formation-leader.

所述运动模型构建模块602具体包括：The motion model building module 602 specifically includes:

跟踪-领导者的运动模型确定单元，用于利用公式

Figure BDA0003410538520000141
确定跟踪-领导者的运动模型；Tracking - leader's kinematic model determination unit for exploiting the formula
Figure BDA0003410538520000141
Determine the tracking-leader's movement model;

其中，

Figure BDA0003410538520000142
表示跟踪-领导者的状态，
Figure BDA0003410538520000143
表示跟踪-领导者的控制输入，
Figure BDA0003410538520000144
表示跟踪-领导者的输出，
Figure BDA0003410538520000145
是常数矩阵，v0(t)是有界的，且||r0(t)||∞≤η，η为常数。in,
Figure BDA0003410538520000142
represents the track-leader state,
Figure BDA0003410538520000143
represents the tracking-leader's control input,
Figure BDA0003410538520000144
represents the output of the track-leader,
Figure BDA0003410538520000145
is a constant matrix, v 0 (t) is bounded, and ||r 0 (t)|| ∞ ≤η, η is a constant.

本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments 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 relevant part can be referred to the description of the method.

本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。In this paper, specific examples are used to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present invention; meanwhile, for those skilled in the art, according to the present invention There will be changes in the specific implementation and application scope. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (8)

1. A heterogeneous unmanned cluster formation surround tracking control method is characterized by comprising the following steps:
determining a tracking-leader, a formation-leader, and a follower from the heterogeneous unmanned cluster system; the tracking-leader generates a target signal tracked by the entire heterogeneous unmanned cluster system; the formation-leader and the follower are different types of agents in the heterogeneous unmanned cluster system respectively;
determining a motion model of a tracking-leader according to the macro motion state of the heterogeneous unmanned cluster system and bounded control input; the motion model of the tracking-leader is used for generating a reference track of the overall motion of the heterogeneous unmanned cluster system;
acquiring a communication topological relation of a heterogeneous unmanned cluster system; the union of the neighbor sets of all followers in the communication topological relation of the heterogeneous unmanned cluster system comprises all formation-leaders, and the action topologies of the followers are communicated; the action topology among the leaders is a spanning tree with a tracking-leader as a root node, and the action topology among the formation-leaders is undirected;
constructing a distributed time-varying formation tracking controller according to the motion model of the tracking-leader, the state of the formation-leader, the communication topological relation and the time-varying output formation vector; constructing a distributed surround-tracking controller according to the state of the formation-leader and the state of the follower;
constructing a formation-leader motion model according to the distributed time-varying formation tracking controller and the motion model of the tracking-leader; constructing a follower motion model according to the formation-leader motion model and the distributed surround-tracking controller;
tracking a reference trajectory of the tracking-leader using a formation-leader motion model time-varying formation;
the follower's output is converged into the convex hull of the formation-leader formation using a follower motion model.
2. The heterogeneous unmanned cluster formation surround tracking control method according to claim 1, wherein the determining a motion model of a tracking-leader according to a macro motion state of the heterogeneous unmanned cluster system and a bounded control input specifically comprises:
using formulas
Figure FDA0003410538510000011
Determining a motion model of the tracking-leader;
wherein,
Figure FDA0003410538510000012
the status of the track-leader is represented,
Figure FDA0003410538510000013
a control input representing a track-leader,
Figure FDA0003410538510000014
the output of the track-leader is represented,
Figure FDA0003410538510000015
is a matrix of constants, v0(t) is bounded, and r0(t)||∞Eta is less than or equal to eta, and eta is a constant.
3. The heterogeneous unmanned cluster formation surround tracking control method according to claim 2, wherein the constructing a distributed time-varying formation tracking controller according to a tracking-leader motion model, a formation-leader state, the communication topological relation and a time-varying output formation vector specifically comprises:
using the formula hyi(t)＝Yihi(t) determining a time-varying output queuing vector;
using formulas
Figure FDA0003410538510000021
Determining a distributed time-varying formation tracking controller;
wherein,
Figure FDA0003410538510000022
denotes a formation parameter, i is 1,2, …, N denotes the number of formation-leaders,
Figure FDA0003410538510000023
representing the formation output matrix, hyi(t) is a time-varying output queuing vector,
Figure FDA0003410538510000024
representing the state of the formation-leader,
Figure FDA0003410538510000025
represents a pair v0Is determined by the distributed estimation of the time domain,
Figure FDA0003410538510000026
Figure FDA0003410538510000027
represents the adaptive control gain; tau isiRepresenting a time-varying convoy tracking compensation input,
Figure FDA0003410538510000028
μ denotes the normal number, K1i、Khi、K2i、ΥiAnd ΓiA matrix of gains is represented by a matrix of gains,
Figure FDA0003410538510000029
a non-negative weight is represented by a non-negative weight,
Figure FDA00034105385100000210
representing neighbor formation-leader j pairs v0Is calculated.
4. The heterogeneous unmanned cluster formation surround tracking control method according to claim 3, wherein the distributed time-varying formation tracking controller is constructed according to a tracking-leader motion model, a formation-leader state, the communication topological relation and a time-varying output formation vector, and specifically further comprises:
judging whether the time-varying output formation vector has compensation input or not;
if so, determining whether the compensation input satisfies a formula
Figure FDA00034105385100000211
If so, constructing a distributed time-varying formation tracking controller; if not, re-determining the time-varying output formation vector;
wherein,
Figure FDA00034105385100000212
representing a constant matrix, τi(t) represents the compensation input and,
Figure FDA00034105385100000213
a matrix of constants is represented by a matrix of constants,
Figure FDA00034105385100000214
denotes an external input, XhiRepresenting a constant matrix that satisfies the local regulator equation.
5. The heterogeneous unmanned cluster formation surround tracking control method according to claim 4, wherein the formation-leader motion model is constructed according to a distributed time-varying formation tracking controller and a motion model of a tracking-leader; constructing a follower motion model according to a formation-leader motion model and a distributed surround-tracking controller, and specifically comprising the following steps of:
using formulas
Figure FDA0003410538510000031
Determining formation-leader fortuneA moving model and a follower motion model;
wherein,
Figure FDA0003410538510000032
and
Figure FDA0003410538510000033
respectively, the status, control inputs and outputs of the formation-leader i or follower i, i being 1,2, …, N + M, M being the number of followers,
Figure FDA0003410538510000034
Figure FDA0003410538510000035
is a matrix of constants.
6. The heterogeneous unmanned cluster formation surround tracking control method according to claim 5, wherein the formation-leader motion model is constructed according to a distributed time-varying formation tracking controller and a motion model of a tracking-leader; constructing a follower motion model according to the formation-leader motion model and the distributed surround-tracking controller, and specifically further comprising:
using formulas
Figure FDA0003410538510000036
Determining that a formation-leader achieves a desired time-varying output formation tracking condition;
using formulas
Figure FDA0003410538510000037
Determining a formation-leader-follower to achieve a desired output confounding condition
Wherein, yi(t) is the output of the formation-leader i, i ═ 1,2, …, N, yk(t) output of follower k, ρk,jA non-negative constant of the number of the first,
Figure FDA0003410538510000038
7. a heterogeneous unmanned cluster formation surround tracking control system is characterized by comprising:
the intelligent agent dividing module is used for determining a tracking-leader, a formation-leader and a follower according to the heterogeneous unmanned cluster system; the tracking-leader generates a target signal tracked by the entire heterogeneous unmanned cluster system; the formation-leader and the follower are different types of agents in the heterogeneous unmanned cluster system respectively;
the motion model determination module of the tracking-leader is used for determining the motion model of the tracking-leader according to the macro motion state of the heterogeneous unmanned cluster system and bounded control input; the motion model of the tracking-leader is used for generating a reference track of the overall motion of the heterogeneous unmanned cluster system;
the communication topological relation acquisition module is used for acquiring the communication topological relation of the heterogeneous unmanned cluster system; the union of the neighbor sets of all followers in the communication topological relation of the heterogeneous unmanned cluster system comprises all formation-leaders, and the action topologies of the followers are communicated; the action topology among the leaders is a spanning tree with a tracking-leader as a root node, and the action topology among the formation-leaders is undirected;
the controller construction module is used for constructing a distributed time-varying formation tracking controller according to the motion model of the tracking-leader, the state of the formation-leader, the communication topological relation and the time-varying output formation vector; constructing a distributed surround-tracking controller according to the state of the formation-leader and the state of the follower;
the motion model building module is used for building a formation-leader motion model according to the distributed time-varying formation tracking controller and the motion model of the tracking-leader; constructing a follower motion model according to the formation-leader motion model and the distributed surround-tracking controller;
a time-varying formation tracking module for tracking a reference trajectory of the tracking-leader by a time-varying formation using a formation-leader motion model;
and the enclosure control module is used for converging the output of the follower to a convex hull of the formation formed by the formation-leader by utilizing the follower motion model.
8. The heterogeneous unmanned cluster formation surround-track control method according to claim 7, wherein the motion model construction module of the track-leader specifically comprises:
a tracking-leader motion model determination unit for utilizing a formula
Figure FDA0003410538510000041
Determining a motion model of the tracking-leader;
wherein,
Figure FDA0003410538510000042
the status of the track-leader is represented,
Figure FDA0003410538510000043
a control input representing a track-leader,
Figure FDA0003410538510000044
the output of the track-leader is represented,
Figure FDA0003410538510000045
is a matrix of constants, v0(t) is bounded, and r0(t)||∞Eta is less than or equal to eta, and eta is a constant.
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CN116820100B (en) * 2023-06-25 2024-02-27 中国矿业大学 Unmanned vehicle formation control method under spoofing attack
CN116820100A (en) * 2023-06-25 2023-09-29 中国矿业大学 A method of unmanned vehicle formation control under deception attack
CN116679753A (en) * 2023-06-25 2023-09-01 中国矿业大学 Formation tracking control method for anti-spoofing attack of heterogeneous unmanned system
CN117331317A (en) * 2023-12-01 2024-01-02 东海实验室 Under-actuated underwater helicopter surrounding control method based on width learning
CN117331317B (en) * 2023-12-01 2024-02-20 东海实验室 Under-actuated underwater helicopter surrounding control method based on width learning
CN118151544A (en) * 2024-05-11 2024-06-07 北京理工大学长三角研究院(嘉兴) Self-adaptive fault-tolerant control method of multi-agent system in surrounding control
CN119088075A (en) * 2024-08-12 2024-12-06 四川大学 Air-sea heterogeneous unmanned swarm collaborative formation control method based on sliding mode consistency
CN119126804A (en) * 2024-09-09 2024-12-13 东南大学 A method for sea-air cross-domain unmanned swarm escort and formation planning

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Application publication date: 20220208