[1]邵敬平,田玉平.目标位置未知的多自主体系统多目标一致巡航控制[J].东南大学学报(自然科学版),2018,48(5):949-954.[doi:10.3969/j.issn.1001-0505.2018.05.025]
　Shao Jingping,Tian Yuping.Uniform multi-target circumnavigation control by multi-agent system at unknown target position[J].Journal of Southeast University (Natural Science Edition),2018,48(5):949-954.[doi:10.3969/j.issn.1001-0505.2018.05.025]
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目标位置未知的多自主体系统多目标一致巡航控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
48
期数:
2018年第5期
页码:
949-954
栏目:
材料科学与工程
出版日期:
2018-09-20

文章信息/Info

Title:
Uniform multi-target circumnavigation control by multi-agent system at unknown target position
作者:
邵敬平; 田玉平
东南大学自动化学院, 南京 210096; 东南大学复杂工程系统测量与控制教育部重点实验室, 南京 210096
Author(s):
Shao Jingping;  Tian Yuping
School of Automation, Southeast University, Nanjing 210096, China
Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education, Southeast University, Nanjing 210096, China
关键词:
多自主体系统;  一致巡航控制;  方位角测量;  目标定位
Keywords:
multi-agent system;  uniform circumnavigation control;  bearing measurement;  target localization
分类号:
TB391
DOI:
10.3969/j.issn.1001-0505.2018.05.025
摘要:
针对目标位置未知的情形,研究了多自主体系统多目标一致巡航控制问题. 由于目标的位置是未知的,首先,基于方位角测量和通信拓扑,设计估计器估计目标的位置. 接着,为每个自主体设计一个分布式估计算法协作估计多目标中心. 然后,结合前面的估计,为每个自主体设计一个新的一致巡航控制器,保证所有的自主体绕着目标中心以事先规定的半径执行一致巡航任务,并且利用稳定分析方法严格分析了算法的收敛性.结果表明,通过对6个自主体一致巡航4个目标的数值仿真,目标位置估计误差和多目标中心估计误差均渐进收敛到0的领域内. 因此,验证了算法的正确性和有效性.
Abstract:
Aimed at the case of unknown target position, the problem of uniform multi-target circumnavigation control by a multi-agent system was further investigated by this paper. First, based on bearing measurement and communication topology, an estimator was designed to estimate the target position. Then, a distributed estimation algorithm was designed for each agent to cooperatively estimate the centroid of multi-targets. And then, combining the previous estimate, a circumnavigation controller was devised for each agent to guarantee that all agents uniformly circumnavigate all targets around the multi-target centroid with a predetermined radius. In addition, the convergence analysis of the algorithm was strictly given by the stability analysis method. Finally, an example with 6 agents uniformly circumnavigating 4 targets was given by numerical simulation. The simulation results show that the estimated errors of the target position and the estimated errors of multi-target center both asymptotically converge to the neighborhoods of zero. Thus, the correctness and the effectiveness of the proposed algorithm are verified.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2018-04-02.
作者简介: 邵敬平(1984—), 男, 博士生; 田玉平(联系人), 男, 博士, 教授, 博士生导师, yptian@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(61573105)、江苏高校优势学科建设工程资助项目.
引用本文: 邵敬平,田玉平.目标位置未知的多自主体系统多目标一致巡航控制[J].东南大学学报(自然科学版),2018,48(5):949-954. DOI:10.3969/j.issn.1001-0505.2018.05.025.
更新日期/Last Update: 2018-09-20