Cluster-system-oriented formation encircling tracking method capable of realizing convergence in finite time

Abstract

The invention relates to a cluster-system-oriented formation encircling tracking method capable of realizing convergence in finite time. The method comprises the steps: acquiring a plurality of intelligent agents in a rescue material transportation scene of an unknown terrain; acquiring state information of each intelligent agent in real time; constructing a cluster system communication topological relation; determining state information of the neighbor agent in real time; determining an expected formation configuration; constructing a state observer according to the state information of theagent, the state information of the neighbor agent, the communication topological relation and the expected formation configuration; determining state information observed by the observer according tothe state observer; designing a controller according to the state information, the observed state information and the communication topological relation to obtain controller information; and completing specified finite time formation encirclement tracking according to the controller information. According to the method, the problems that the virtual leader input upper bound needs to be predictedin advance, the formation pattern of the cluster system is not changed, and the cluster system cannot ensure finite time convergence can be solved.

Description

technical field [0001] The invention relates to the field of collaborative control of cluster systems, in particular to a formation encirclement tracking method oriented to convergence within a limited time of the cluster system. Background technique [0002] Swarm cooperative control is a hot issue in the current research of swarm systems. In the process of cooperation, agents need to use corresponding cooperative control methods to jointly achieve the specified global goals. According to different tasks, cooperative control methods can be divided into consistency control, formation control, encirclement control, etc. Among them, the formation control aims to make the swarm system maintain a preset formation formation among the agents when the swarm system is moving towards a specific goal or direction. Swarm system formation control is widely used in aerospace, military, industry, etc., and can create favorable conditions for cooperative reconnaissance, detection, round-u...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a cluster system-oriented formation encirclement tracking method that converges within a limited time, which solves the problem in the prior art that the upper bound of the input of the virtual leader needs to be predicted in advance, and the formation of the cluster system remains unchanged at all times, and The problem that the cluster system cannot guarantee a limited time convergence improves the practicability of formation encirclement tracking

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