智能群体环绕运动控制

段敏; 高辉; 宋永端

doi:10.7498/aps.63.140204

摘要

自然界中，鸟类迁徙、鱼类群游等群体智能运动具有一定的规律. 例如，鸟类迁徙以领导者和跟随者模式的直线运动为主，鱼类中以环绕运动为主. 自然界的这种群体直线运动与环绕运动具有十分重要的理论研究价值和广泛的工程应用前景. 本文针对群体环绕运动进行研究，考虑个体只能获取局部目标信息这一特性，设计均值估计器进行群体目标状态估计，建立环绕运动算法，确保实现群体圆形编队且保持队形. 通过李雅普诺夫理论分析，证明每个个体在有限时间内能获取所有目标平均位置信息，且能基于群体圆形编队队形进行目标环绕和追踪，队形随目标状态变化. 有关结果通过仿真得到进一步验证.

关键词:

Abstract

In nature, the motion of swarm intelligence has a regularity such as the line motion based bird migration, the circle motion based fish swarming, etc., which has important theoretical significance and vast application prospect in engineering practice. In this paper, we investigate the distributed encirclement control problem of a group of multi-agent systems. With considering the feature that each agent can achieve local target information, we design an averaging estimator to achieve the target information, and propose a distributed control scheme to achieve the encirclement and keep the formation changing with the target states. By Lyapunov theory analysis, it is proved that each individual agent can achieve the information about the marked arerage position in a finite time, encircle and pursue the targets based on the encirclement formation. Finally, a numerical example is presented to illustrate the obtained theoretical results.

Keywords:

作者及机构信息

1.
重庆大学自动化学院智慧系统与新能源技术研究院, 重庆 400044

基金项目: 国家重点基础研究发展计划（批准号：2012CB215202）和国家自然科学基金（批准号：61203080，61134001）资助的课题.

Authors and contacts

1.
School of Automation, Chongqing University, Chonging 400044, China

Funds: Project supported by the National Basic Research Program of China (Grant No. 2012CB215202) and the National Natural Science Foundation of China (Grant Nos. 61203080, 61134001).

参考文献

[1]	Olfati-Saber R, Murray R M 2004 IEEE Trans. Automatic Control 49 1520
[2]	Hong Y G, Hu J P, Gao L X 2006 Automatica 42 1177
[3]	Hong Y G, Chen G R, Bushnell L 2008 Automatica 44 846
[4]	Ren W, Atkins E 2007 Int. J. Robust Nonlinear Control 17 1002
[5]	Lin P, Jia Y M, Yuan S Y 2007 Proceedings of the 26th Chinese Control Conference Zhangjiajie, Hunan, China, July 26-31, 2007 p577
[6]	Lin P, Jia Y M 2008 Physica A 387 303
[7]	Lin P, Jia Y M, Du J P, Yuan S Y 2008 Asian J. Control 10 254
[8]	Tian Y P, Liu C L 2008 IEEE Trans. Autom. Control 53 2122
[9]	Tian Y P, Liu C L 2008 Automatica 45 1347
[10]	Liu C L, Tian Y P 2009 Int. J. Syst. Sci. 40 627
[11]	Lin P, Jia Y M 2009 Automatica 45 2154
[12]	Lin P, Jia Y M 2010 IEEE Trans. Automatic Control 55 778
[13]	Lin P, Jia Y M 2011 Automatica 47 848
[14]	Hu J P, Hong Y G 2007 Chin. Phys. A 374 853
[15]	Lin P, Jia Y M 2008 Chin. Phys. A 387 303
[16]	Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777
[17]	Pei W D, Chen Z Q, Yuan Z Z 2008 Chin. Phys. B 17 373
[18]	Marasco A J, Givigi S N, Rabbath C A 2012 American Control Conference Fairmont Queen Elizabeth, Montréal, Canada, June 27-29, 2012 p2004
[19]	Li Y M, Guan X P 2009 Chin. Phys. B 18 3355
[20]	Zhang W G, Liu J Z, Zeng D L, Hu Y 2013 Chin. Phys. B 22 050511
[21]	Bhat P S, Bernstein S D 1998 IEEE Trans. Automatic Control 43 678

施引文献

[1]	Olfati-Saber R, Murray R M 2004 IEEE Trans. Automatic Control 49 1520
[2]	Hong Y G, Hu J P, Gao L X 2006 Automatica 42 1177
[3]	Hong Y G, Chen G R, Bushnell L 2008 Automatica 44 846
[4]	Ren W, Atkins E 2007 Int. J. Robust Nonlinear Control 17 1002
[5]	Lin P, Jia Y M, Yuan S Y 2007 Proceedings of the 26th Chinese Control Conference Zhangjiajie, Hunan, China, July 26-31, 2007 p577
[6]	Lin P, Jia Y M 2008 Physica A 387 303
[7]	Lin P, Jia Y M, Du J P, Yuan S Y 2008 Asian J. Control 10 254
[8]	Tian Y P, Liu C L 2008 IEEE Trans. Autom. Control 53 2122
[9]	Tian Y P, Liu C L 2008 Automatica 45 1347
[10]	Liu C L, Tian Y P 2009 Int. J. Syst. Sci. 40 627
[11]	Lin P, Jia Y M 2009 Automatica 45 2154
[12]	Lin P, Jia Y M 2010 IEEE Trans. Automatic Control 55 778
[13]	Lin P, Jia Y M 2011 Automatica 47 848
[14]	Hu J P, Hong Y G 2007 Chin. Phys. A 374 853
[15]	Lin P, Jia Y M 2008 Chin. Phys. A 387 303
[16]	Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777
[17]	Pei W D, Chen Z Q, Yuan Z Z 2008 Chin. Phys. B 17 373
[18]	Marasco A J, Givigi S N, Rabbath C A 2012 American Control Conference Fairmont Queen Elizabeth, Montréal, Canada, June 27-29, 2012 p2004
[19]	Li Y M, Guan X P 2009 Chin. Phys. B 18 3355
[20]	Zhang W G, Liu J Z, Zeng D L, Hu Y 2013 Chin. Phys. B 22 050511
[21]	Bhat P S, Bernstein S D 1998 IEEE Trans. Automatic Control 43 678

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