Distributed formation control system and method in disturbance three-dimensional environment

Abstract

The present invention discloses a distributed formation control system and method in a disturbance three-dimensional environment. The method combines model predictive control with extended Kalman filter, realizes the formation control over multiple controlled objects in the case that great uncertainty exists in the modeling of the controlled objects and the output measurement of the controlled objects has noise, integrates a swarm intelligence optimization algorithm library to realize the formation control over the multiple controlled objects in the case that the controlled objects have complex and coupled three-dimensional space dynamic characteristics and are limited by complex constraints. In addition, the method is achieved by distributed model predictive control so as to further reduce the computational cost of the control law solution and enhance the anti-strike capability of the formation control.

Description

technical field [0001] The invention relates to the technical field of formation control. More specifically, it relates to a distributed formation control system and method in a disturbed three-dimensional environment. Background technique [0002] In a real scene, the controlled object is often a black box. Therefore, in order to realize the control of the controlled object, it is often necessary to establish a mathematical model of the controlled object, and design a control law through the research of the mathematical model. At present, several control methods that are relatively common and widely used mainly include: PID control method, artificial potential field method, control method based on consistency theory, and model predictive control method. Among them, the PID control method is insufficient in the ability to deal with complex requirements and constraints; the adjustment of the feedback gain by the artificial potential field method is not obvious, and there are...

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Problems solved by technology

[0005] In view of the fact that the dynamic characteristics of the controlled object in the three-dimensional space are often difficult to planar in real scenes, the model has uncertainty, the measurement has noise, the complex constraints in the complex formation control, and the characteristics of the centralized control law solution are too expensive. In order to make up for the shortcomings of existing methods, the present invention proposes a distributed formation control system and method in a disturbed three-dimensional environment

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