A Formation Encirclement Tracking Method Converging in Limited Time Oriented to Swarm Systems

Abstract

The invention relates to a formation encirclement tracking method which converges within a limited time and is oriented to a cluster system. The method includes: obtaining multiple agents in the delivery scene of rescue materials in unknown terrain; obtaining state information of each agent in real time; constructing a cluster system communication topology relationship; determining state information of neighboring agents in real time; determining the expected formation configuration; According to the state information of the agent, the state information of the neighboring agents, the communication topology relationship and the expected formation configuration, construct the state observer; according to the state observer, determine the state information observed by the observer; according to the state information, the observed state information and The controller is designed according to the communication topology, and the controller information is obtained; according to the controller information, the specified limited time formation encirclement tracking is completed. The invention can solve the problems that the input upper bound of the virtual leader needs to be predicted in advance, the formation of the cluster system is invariant in time, and the cluster system cannot guarantee convergence in a limited time.

Description

Technical field [0001] The present invention relates to a cluster system synergistic control, and in particular, to a finishing method for convergence in a limited time to a cluster system. Background technique [0002] Cluster coordination control is a hot problem of current cluster system research. During collaboration, the intelligent body needs to achieve the designated global target through the corresponding synergistic control method. According to the different tasks, the collaborative control method can be divided into consistency control, formation control, and heave control, etc. Among them, the formation control is intended to keep the cluster system in the process of maintaining a preset formar formation between the intelligent bodies in each smart body. The cluster system formation is widely used in aerospace, military, industry, etc., which can create favorable conditions for mandates such as collaborative reconnaissance, detection, and surrounding. Hereby Control re...

AI Technical Summary

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

Images