规定的时间合作指导法与寻求者少的追随者对多个目标
Yunjie Wu1, Xuman An1, Yueyang Hua2
1State Key Laboratory of Virtual Reality Technology and System, Beihang University, Beijing, 100191, China; School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China; Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, China.
ISA transactions
|June 1, 2025
概括
本研究介绍了一种分组规定的时间合作指导法 (GPCGL),用于多辆车辆在没有碰撞的情况下攻击目标. 该GPCGL确保合作攻击和避免碰撞在一个设定的时间框架内.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 自主系统 自主系统
- 导航,导航和控制系统 (GNC) 是指导,导航和控制系统.
背景情况:
- 对于复杂的任务,多车辆系统的合作指导至关重要.
- 在协调攻击中,避免碰撞仍然是一个重大挑战.
- 规定的时间控制为系统趋同提供了精确的时间保证.
研究的目的:
- 提出一项新的集成规定的时间合作指导法 (GPCGL),用于在不碰撞的情况下对多车辆目标进行攻击.
- 为了实现时间精确的协调攻击,并确保车辆之间的安全.
- 解决车辆子组内的合作指导和碰撞避免问题.
主要方法:
- 一个分布式指导法则,用于领导者实现分离时间攻击.
- 追随者的两部分指导法则:追随者到领导者视线 (LOS) 框架中的触点和正常方向.
- 一个比例的共识指导法与辅助的控制术语的子集团内部的合作和基于距离的避免碰撞.
- 一个动态的 LOS 角度限制了导向定律,用于以方向为基础的避免碰撞.
主要成果:
- 拟议的GPCGL保证了子集团内部的合作,同时避免基于距离的碰撞.
- 基于方向的碰撞避免是通过动态的LOS角度受约束的引导定律实现的.
- 已证明GPCGL是规定的时间收的,确保在特定时间内实现状态收.
- 模拟验证了拟议的指导法的有效性.
结论:
- GPCGL有效地使多辆车能够在规定的时间内在没有碰撞的情况下合作攻击多个目标.
- 该指导法通过明确的控制策略确保了合作行为和强大的碰撞避免.
- 规定的时间收属性提供可预测的任务完成时间.
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