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45 results about "Virtual leader" patented technology
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Vehicle position keeping system
InactiveUS20050165516A1Digital data processing detailsActuated automaticallyEngineeringPosition error
A position keeping system, useable to maintain a position of a vehicle in a vehicle formation, to keep all formation members flying at a specified velocity and altitude, and to perform commanded maneuvers, determines guidance corrections based on a track state referenced to a leader or a virtual leader of the formation and on a formation position error indicating the error in the position of the vehicle in the formation. The guidance corrections are required so as to maintain the vehicles in the formation.
Owner:HONEYWELL INT INC
Vehicle position keeping system
A position keeping system, useable to maintain a position of a vehicle in a vehicle formation, to keep all formation members flying at a specified velocity and altitude, and to perform commanded maneuvers, determines guidance corrections based on a track state referenced to a leader or a virtual leader of the formation and on a formation position error indicating the error in the position of the vehicle in the formation. The guidance corrections are required so as to maintain the vehicles in the formation.
Owner:HONEYWELL INT INC
Cooperative control policy based on secure communication of multiple unmanned aerial vehicles
InactiveCN105867415ATo achieve the purpose of secure communicationIncrease autonomyPosition/course control in three dimensionsVehicle dynamicsSecure communication
The invention discloses a cooperative control policy based on secure communication of multiple unmanned aerial vehicles. The cooperative control policy comprises a first step of applying an Olfati-saber flocking control algorithm of a variable speed virtual leader to perform preliminary cooperative control over an unmanned aerial vehicle group; a second step of introducing a virtual communication circle to perform on-line communication power setting on each unmanned aerial vehicle, and calculating an expected position of each unmanned aerial vehicle node meeting the secure communication requirements; and a third step of applying an optimized position movement function to make each unmanned aerial vehicle node move to the expected position obtained in the second step securely without collision. According to the cooperative control policy, how communication affects unmanned aerial vehicle group dynamics and communication topology is studied more; through the newly provided virtual communication circle and by combination of an improved target movement function and an existing classic dynamics flocking algorithm, the problem of insecurity of information leakage possibly occurring to a multi-unmanned aerial vehicle system is effectively solved, and the cooperative control policy is a new idea for describing relations of unmanned aerial vehicle dynamics and wireless ad hoc networks.
Owner:SHENYANG AEROSPACE UNIVERSITY
Method and device for formation aiming at multiple intelligent agents
InactiveCN105467981AGuaranteed positionAvoid formation disorderVehicle position/course/altitude controlPosition/direction controlControl engineeringIntelligent agent
The invention discloses a method and device for formation aiming at multiple intelligent agents, wherein the method comprises the steps that a corresponding virtual leader is configured for each of the multiple intelligent agents; and each intelligent agent is made to track the corresponding virtual leader in limited time according to preset control rules, so that a formation pattern of the multiple intelligent agents can be formed. The method disclosed by the invention configures the corresponding virtual leader for each intelligent agent, makes a speed and a position of each intelligent agent consistent with a speed and a position of the corresponding virtual leader in the limited time according to the preset control rules and tracks the corresponding virtual leader so as to form the formation pattern of the multiple intelligent agents, so that a certain relative position among the multiple intelligent agents can be ensured, and formation pattern disordering caused by tracking errors which are accumulated by multiple times of formation pattern conversion can be avoided.
Owner:CENT SOUTH UNIV
Encircling and tracking method based on distributed control unmanned surface vessel cluster
ActiveCN107608347AEfficient trackingEfficient evictionPosition/course control in two dimensionsPotential fieldComputer science
The invention relates to the technical field of unmanned surface vessel formation control, in particular to an encircling and tracking method based on a distributed control unmanned surface vessel cluster. The method includes the following steps: encircled objects are sensed and detected, unmanned surface vessels are distributed, and a virtual leader is set; the signs and overall structures of encircled boats are identified, and kinematics models of the encircled boats are built; the unmanned surface vessels work cooperatively, and form a cluster to track the encircled objects; and the movingcoordinate systems of the virtual leader and the encircled objects are identified in real time, and when the moving coordinate systems overlap, the unmanned surface vessels move around and encircle the encircled objects. The invention provides an encircling and tracking method based on a distributed control unmanned surface vessel cluster. By matching the kinematics models of the encircled objectsthrough a database, the encircling of the encircled objects is not limited to the form of unmanned surface vessel formation. Based on an artificial potential field, an encircled object can be trackedand expelled efficiently. The method has the advantages of being safe, quick, efficient, and the like.
Owner:GUANGDONG HUST IND TECH RES INST +2
Distributed cluster unmanned aerial vehicle formation changing method
ActiveCN110865653AImplement refactoringFlexiblePosition/course control in three dimensionsSimulationUncrewed vehicle
The invention provides a distributed cluster unmanned aerial vehicle formation changing method. The method comprises the steps that firstly, the position and the speed of cluster unmanned aerial vehicles are initialized, and the flight formation of a cluster is designed; secondly, an unmanned aerial vehicle cooperative task allocation model is established, and each unmanned aerial vehicle independently performs task selection, so as to construct and update a task packet; after the task packet is updated, each unmanned aerial vehicle shares own known information with other unmanned aerial vehicles in the communication neighborhood at the same time and performs consistency negotiation, and CBBA is adopted to complete position allocation from an initial random position to a cluster target formation, so that the algorithm is finally converged to a conflict-free task allocation scheme; and finally, a control law is designed based on the position and speed consistency between the unmanned aerial vehicles of the cluster and between the unmanned aerial vehicles and a virtual leader to realize formation and maintenance of the cluster formation. According to the invention, rapid and efficient formation change of the cluster unmanned aerial vehicles can be realized through redistribution of the target formation position.
Owner:NORTHWESTERN POLYTECHNICAL UNIV
Island micro-grid distributed cooperative control method based on hierarchical control strategy
ActiveCN107579543AImprove controlEasy to solveSingle network parallel feeding arrangementsSystems intergating technologiesNameplate capacityComputer architecture
The invention provides an island micro-grid distributed cooperative control method based on a hierarchical control strategy. The method comprises the steps of firstly constructing a hierarchical control structure into two structures of a local control hierarchy and a network control hierarchy; secondly, studying P-U / Q-omega droop control, wherein the P-U / Q-omega droop control is used as primary control of all distributed power sources and angular frequencies; then, introducing a communication network composed of all distributed power sources in a micro-grid in combination with a graph theory and a multi-intelligent-body theory; on the basis of the communication network, designing a novel Virtual leader-following consistency protocol which considers a time delay problem and using the protocol to complete secondary control of all the distributed power source voltages and the angle frequencies; finally, achieving reasonable distribution of active power by designing a current controller. According to the island micro-grid distributed cooperative control method based on the hierarchical control strategy, it is ensured that the distributed power source voltages and the angle frequenciesobtain a reliable control effect, and the effect that the active power is reasonably distributed according to the rated capacities of the distributed power sources is achieved.
Owner:YANSHAN UNIV
Man-machine cooperative formation following and obstacle-avoidance method based on obstacle graph and potential field method
ActiveCN106483958ASolve local extremum pointsAdd graph modeling linkPosition/course control in two dimensionsStructure recognitionPotential field
The invention provides manned / unmanned platform formation following and obstacle-avoidance method based on an obstacle graph model and a potential function, so that a problem that the existing potential function has a local extreme point and needs track planning and a problem can be solved and control of unknown obstacle avoidance autonomous formation forming and formation position adjustment of an unmanned platform during the marching process of going to a predetermined site of the unmanned platform formation following an manned platform in a complex environment is realized. Therefore, graph model construction and connected structure identification of a practical obstacle environment by an manned platform are realized; and thus a collision-free path of a virtual leader is planned and the unmanned platform forms formation autonomously by following the virtual leader, and the detected obstacle is avoided. Meanwhile, during the obstacle avoidance process, the predetermined task of the unmanned platform is not damaged, so that the unmanned platform still can carry out formation autonomously after obstacle avoidance to follow the manned platform.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Unmanned aerial vehicle and unmanned vehicle heterogeneous cluster formation tracking control method under topology switching
ActiveCN111665848ARealization of Distributed Time-varying Formation Tracking MotionPosition/course control in three dimensionsPosition/course control in two dimensionsState observerControl engineering
The invention discloses an unmanned aerial vehicle and unmanned vehicle heterogeneous cluster formation tracking control method under topology switching. The tracking control method comprises the following steps: constructing a virtual leader of a heterogeneous formation; constructing a time-varying formation vector of the heterogeneous formation according to an expected time-varying formation configuration of the heterogeneous formation; establishing a distributed state observer for estimating the state of the virtual leader by members in the heterogeneous formation under a topology switchingcondition; establishing a system state observer for estimating the states of the members in the heterogeneous formation; constructing a distributed time-varying formation tracking controller; controlling the virtual leader to move according to the expected movement track of the heterogeneous formation; and controlling the members of the heterogeneous formation to track the motion tracks of the virtual leader through the distributed time-varying formation tracking controller. Therefore, a cluster system composed of multiple unmanned aerial vehicles and unmanned vehicles can track the expectedreference track while forming an expected time-varying formation configuration under a topology switching condition, and distributed time-varying formation tracking motion of a heterogeneous cluster system is realized.
Owner:BEIHANG UNIV
Time-varying formation swarm control method applied to unmanned aerial vehicle group
InactiveCN110377051AEasy to operateOvercome the defects of single formation and difficult adjustment of formation characteristicsPosition/course control in three dimensionsComputer scienceSwarm control
The invention discloses a time-varying formation swarm control method applied to an unmanned aerial vehicle(UAV) group. A motion data and communication topological relationship of a UAV formation is obtained; a multi-agent kinematic model of the UAV is established; a time-varying formation swarm control algorithm is built; and an average value-virtual leader model of a UVA group is built to analyze the formation stability and the time-varying formation of the UAV group is realized based on the analyzed stability. The control method is easy to realize; and the formation control effect is good.The UAV group formation is realized; and the time-varying formation operations of scaling, rotation, and direction conversion can be performed.
Owner:HOHAI UNIV
Multi-unmanned aerial vehicle formation Standoff tracking control and tracking method based on double-virtual structure
ActiveCN111290440ADifficulty of SimplificationSimplify complexityInternal combustion piston enginesTarget-seeking controlUncrewed vehicleEngineering
The invention discloses a multi-unmanned aerial vehicle formation Standoff tracking control method based on a double-virtual structure, and the method comprises the following steps: introducing a virtual UAV 1 as a virtual leader of formation; introducing another virtual UAVb as a reference of formation target tracking control; and constructing a tracking parameter group for tracking control. According to the tracking control method, UAV formation cooperative target Standoff tracking is described by constructing a tracking parameter group, and tracking conditions are converted into design of the parameter group, so the method is more intuitive and clearer. On the basis of the tracking control method, the invention further discloses a tracking method, Standoff tracking of the target can beachieved only through one control law, the complexity of a tracking algorithm is greatly simplified, and the tracking method has high practical engineering value.
Owner:NAVAL AVIATION UNIV
Multi-underwater-robot formation control method based on reinforcement learning
InactiveCN109947131AReduce energy consumptionFormation stabilityPosition/course control in three dimensionsOptimal controlSimulation
The invention discloses a multi-underwater-robot formation control method based on reinforcement learning, and relates to the field of control of underwater robots. In the invention, after each robotnode in an underwater robot formation acquires the position of the robot node, a control center gives track information of a virtual leader and sends the track information to neighbor nodes of the virtual leader; a topological communication network is established among underwater robot nodes, and each underwater robot node only communicates with the neighbor nodes to keep the formation stable; theunderwater robot formation uses the current control strategy to track, each node calculates a one-step cost function by interacting with the environment and the neighboring nodes, the current controlstrategy is improved by minimizing a value function, when two steps including value iteration and strategy improvement both reach convergence, the control strategy of the underwater robots tracking an expected trajectory is optimal, and the optimal control strategy is used to achieve the goal of accurate tracking.
Owner:YANSHAN UNIV
Flight formation cooperative adaptive tracking control method based on virtual leader
ActiveCN113220021AImprove uncertainty estimation accuracyRealize tracking controlInternal combustion piston enginesPosition/course control in three dimensionsBacksteppingSimulation
The invention relates to a flight formation cooperative adaptive tracking control method based on a virtual leader, and belongs to the field of formation flight control. According to the method, a virtual pilot unmanned aerial vehicle coordination strategy is introduced, the relative position of each unmanned aerial vehicle and a pilot is set as feedback information, control input is designed by adopting a backstepping method, and coordinated trajectory tracking is realized according to a flight formation. A neural network is adopted to estimate dynamics uncertainty, online data is collected to construct prediction error evaluation estimation capability, and a neural network weight adaptive updating law is designed in combination with a tracking error. According to the method, the influence of the problem of dynamic uncertainty of the model in the formation flight process of the multi-unmanned aerial vehicle system on the tracking performance is considered, a composite estimation algorithm based on data analysis is designed, the precision of uncertainty estimation is enhanced, and a new technical approach is provided for improving the formation flight performance.
Owner:NORTHWESTERN POLYTECHNICAL UNIV +1
Multi-leg cooperative control method for underwater multi-leg robot system
ActiveCN110134018AMeet motor flexibility requirementsFlexible changeAdaptive controlRobotic systemsDirected graph
The invention relates to a multi-leg cooperative control method for an underwater multi-leg robot system, belongs to the technical field of cooperative control of underwater multi-leg robots, and aimsto solve the problem that a communication delay exists among different mechanical legs due to the influence of a processor operation speed and a signal transmission path on a multi-leg robot. A barrier Lyapunov function in a logarithmic form is introduced, so that a trajectory tracking error of the system always meets a set error limit requirement; only a communication topology among the different mechanical legs is required to be a directed graph, and only part of followers can obtain information of a leader, so that the communication burden caused by global knowing of the information is avoided; and an input signal source is selected as a virtual leader, so that the change of the leader is more flexible, and the requirement of the robot on the motion flexibility is met. The method is suitable for cooperative motion control of the underwater multi-leg robot.
Owner:HARBIN ENG UNIV
Fixed-wing unmanned aerial vehicle formation finite time fault-tolerant control method based on neural network
PendingCN114594784AOvercome the problem of difficult formation tracking controlRealization of finite-time fault-tolerant controlInternal combustion piston enginesPosition/course control in three dimensionsBacksteppingDynamic models
The invention discloses a fixed-wing unmanned aerial vehicle finite time formation fault-tolerant control method based on a neural network, and the method comprises the steps: firstly, carrying out the formation control through a virtual leader-follower structure, and carrying out the information interaction through a distributed formation method, based on this, designing a corresponding communication topological graph and calculating a corresponding adjacency matrix and a Laplacian matrix; then, aiming at a longitudinal model of the fixed-wing unmanned aerial vehicle, simplifying a dynamic model into a strict feedback form based on a reasonable assumed condition, and considering a failure fault of elevator deflection; on the basis of a backstepping method, sliding mode control is combined, an unknown nonlinear function of a model is processed through a radial basis function neural network, and the failure fault of the elevator is estimated in a self-adaptive mode, so that fault-tolerant control within finite time is achieved. The problem that formation fault-tolerant control is difficult due to the fact that the longitudinal model of the fixed-wing unmanned aerial vehicle serves as a high-order nonlinear system is solved, and the system has high robustness and can be stable within finite time.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Target trajectory tracking method of mobile robot
ActiveCN107085432AReduce occupancyQuick responseAdaptive controlPosition/course control in two dimensionsKinematics equationsKinematics
The invention discloses a target trajectory tracking method of a mobile robot. The method comprises the following steps: 1) establishing the motion equation of the mobile robot; 2) establishing a robot formation kinematics equation based on a virtual leader, and 3) designing an error shaping method and a controller to control a formation error. The target trajectory tracking method of the mobile robot can be applied to an actual non-holonomic mobile robot platform, can make the quickest response with the least system resources, and can be applied to different non-holonomic mobile robot platforms. A closed-loop system has global consistent asymptotic stability in an origin equilibrium state. The target trajectory tracking method can achieve satisfactory tracking effects for various desired values while not changing the value of a controller parameter, has a smooth and continuous controlled quantity change, reduces system mechanical and energy loss, and can prolong the effective operational use time and service life of the system.
Owner:青岛格莱瑞智能控制技术有限公司
Cluster-system-oriented formation encircling tracking method capable of realizing convergence in finite time
ActiveCN111766783AAccurate trackingRealize the effect of encirclement trackingTarget-seeking controlData switching networksState observerCluster systems
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.
Owner:BEIHANG UNIV
Variable formation incomplete mobile robot consistency control method based on prediction
PendingCN114237247AEfficient execution efficiencyIncrease profitPosition/course control in two dimensionsVehiclesMultirobot systemsConsistency control
The invention discloses a variable formation incomplete mobile robot consistency control method based on prediction, and the method comprises the steps: determining a virtual leader to leader all other followers in a multi-robot system; establishing a kinematic model of the incomplete mobile robot; defining a control object of the leader-follower time-varying consistency formation; establishing an auxiliary consistent formation maneuvering trajectory subsystem and a formation tracking subsystem on a Cartesian coordinate level according to the definition of the consistent error; a mathematical language is used for expression, and an optimized formation model neural dynamic optimization distributed model predictive control formation controller is established. According to the method, the time-varying consistency formation problem of structure change of the incomplete mobile robot under the information transformation topology and the constraint problem of system physics are solved.
Owner:GUANGDONG UNIV OF TECH
Fractional order iterative control method of multi-agent system
The invention discloses a fractional order iterative control method of a multi-agent system. The method comprises the following steps of converting a control problem of fractional order multi-agent coordination tracking into a stability control problem of a tracking error in a certain period of time; designing a PD-type iterative learning controller with an initial state learning capability; usinga norm to prove compact convergence of the tracking error; and carrying out data simulation verification on an analytical proof of S30, and carrying out theoretical verification on fractional order multi-agent of a 4-agent 1 virtual leader. In the invention, multi-agent convergence is analyzed and proved, and a convergence condition is deduced. Because of the convergence condition, with the increase of the number of iterations, all the tracking errors are ensured to be gradually reduced to a sufficiently small value.
Owner:HANGZHOU DIANZI UNIV
Island microgrid hierarchical control method considering communication data disturbance under CPS concept
ActiveCN108075488ATo achieve mutual integrationTo make up for the shortcomings of P-ω/Q-U droop control is a differential adjustmentClimate change adaptationSingle network parallel feeding arrangementsBack propagation neural networkMicrogrid
The invention discloses an island microgrid hierarchical control method considering communication data disturbance under CPS concept. The method is based on the CPS concept, and divides a hierarchicalcontrol structure into two layers, that is, a network layer and a physical layer, by utilizing a communication network in the micro grid. In the network layer, influence of a CDD on system control effect is analyzed, and a strategy of adopting a back-propagation neural network to finish data compensation and eliminate the influence of the CDD is proposed; and in the physical layer, P-omega / Q-U droop control is adopted as primary control of voltage and frequency of the microgrid, and meanwhile, communication data in the network layer and a consistency protocol with virtual leaders are utilizedto finish secondary control of DER output voltage and angular frequency, thereby ensuring that the voltage and angular frequency of the microgrid is reliably controlled.
Owner:无锡享源信息科技有限公司
Point-to-point tracking control method for multi-agent trajectory updating iterative learning
ActiveCN111722628ASolve the problem of point-to-point tracking controlPractical applicationProgramme controlAdaptive controlMathematical modelEngineering
The invention discloses a point-to-point tracking control method for multi-agent trajectory updating iterative learning, and belongs to the technical field of control. The method comprises the steps of firstly, constructing a mathematical model of a heterogeneous discrete multi-agent system, regarding an expected position point as generated by a virtual leader, and determining a spanning tree structure taking the leader as a root node according to a communication topological structure of the multi-agent system; secondly, designing a target trajectory updating method according to the expected point, and converging a new target trajectory to system output by updating the target trajectory; and finally, designing a P-type iterative learning method based on target trajectory updating for the follower agent, thereby realizing complete tracking of the expected point by the multi-agent system. By means of the method, the point-to-point tracking control problem of the heterogeneous multi-agentsystem is solved, the speed of outputting and tracking the new target trajectory by the system is higher than the speed of tracking the fixed target trajectory, and thus the agent can complete tracking of the expected point.
Owner:JIANGNAN UNIV
Intelligent ship autopilot self-adaptive fuzzy output feedback control method and system
ActiveCN112698575AHigh speedHigh precisionSustainable transportationAdaptive controlState variableVirtual control
The invention provides an intelligent ship autopilot self-adaptive fuzzy output feedback control method and system. A shipborne computer obtains a course tracking error dynamic state and a course tracking transformation system based on course angle error dynamic states of an intelligent agent and a virtual leader reference signal and error dynamic states of a state variable of the intelligent agent and a virtual control function; a tracking performance index for obtaining a strategy utility function is designed according to the course tracking error and a preset tracking performance threshold, a cost function for designing a fuzzy evaluation module is obtained by utilizing a general approximation principle and a Bellman principle of a fuzzy logic system, and a fuzzy evaluation adaptive update rate is designed; the control input rudder angle of the system is obtained and a rudder angle instruction is transmitted to a ship steering engine to output a ship course angle so that course trajectory tracking consistency control of the system is realized. The method and the system effectively reduce the energy consumption of the controller, reduce the wear of the steering engine, and improve the control precision of the course angle tracking error of the intelligent ship autopilot.
Owner:DALIAN MARITIME UNIVERSITY
Event-driven fixed time electromagnetic source positioning method
ActiveCN110146845AEasy searchPrecise positioningPosition fixationRobotic systemsCommunication source
The invention relates to an event-driven fixed time electromagnetic source positioning method. The method comprises the following steps: evaluating a possible location of an electromagnetic source byadopting an evolution particle filtering method according to electromagnetic signal intensity and direction received by a robot; and giving an event-driven communication rule, and then determining whether the event is driven by comparing the current state error of the robot with the state error between the robots; if the condition is satisfied, regarding that the event is driven, wherein the robotneeds to send the own state information to a wireless network, or does not send the state information; and finally, developing a fixed time consistency controller, and guiding a multi-robot system tomaintain consistency with a virtual leader velocity in the fixed time interval through a virtual leader, and moving to a location direction of the electromagnetic source. The disadvantage of the traditional control is remedied, the event-driven fixed time electromagnetic source positioning method is designed, multiple robots can quickly and accurately position the electromagnetic source, and thechip and the communication source can be saved.
Owner:HANGZHOU DIANZI UNIV
Networked surface ship tracking control method, device and equipment and storage medium
The invention provides a networked surface ship tracking control method, device and equipment and a storage medium, and the method comprises the steps: carrying out the modeling of a surface ship, obtaining a dynamics and kinematics model, setting a virtual leader, and setting the rest as followers; establishing a directed topological graph among the surface ships; according to the dynamics and kinematics model and the directed topological graph, designing a sliding mode surface and control algorithms under the hierarchical control framework, including a control algorithm of a distributed estimation layer and a control algorithm of a local control layer; estimating the state of a virtual leader according to a control algorithm of a distributed estimation layer, wherein followers reach a formation pattern in the layer, and formation control is achieved; and driving each surface ship to track the virtual leader within predefined time according to a control algorithm of the local control layer. A hierarchical control algorithm is adopted to realize formation tracking control of surface ships, the system state can be converged to an original point on a new sliding mode surface, and the method can be applied to different complex systems.
Owner:CHINA UNIV OF GEOSCIENCES (WUHAN)
Adaptive tracking control method for flight formation coordination based on virtual leader
ActiveCN113220021BRealize tracking controlHigh precisionInternal combustion piston enginesPosition/course control in three dimensionsBacksteppingControl engineering
Owner:NORTHWESTERN POLYTECHNICAL UNIV +1
Multi-agent system cooperative control method capable of maintaining connectivity
The invention provides a multi-agent system cooperative control method capable of maintaining connectivity. After the running of a multi-agent system is started, when detecting that the multi-agent system with an agent is divided into two or more mutually disconnected connected subsystems according to the conditions of mutual connection with other agents at any time t, the agent determines whether the connected subsystem with the agent is a piloting subsystem or an adjoint system according to a preset election strategy, and elects a leader of the connected subsystem by communicating with the other agents in the connected subsystem; the leader in the piloting subsystem is called a virtual leader, and the leader in the adjoint subsystem is called a supporter; long-range connection is established between the virtual leader and each supporter; and each agent determines values of sigmai(t) according to own roles, and is self-controlled in real time by adopting the expression of a control rate. By the method, the problem that the connectivity cannot be maintained by the conventional multi-agent system cooperative control methods is solved.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
A Distributed Control Method for Swarm Tracking of Unmanned Vessels
ActiveCN107608347BImprove efficiencyPosition/course control in two dimensionsComputer visionArtificial intelligence
Owner:GUANGDONG HUST IND TECH RES INST +2
Distributed micro-grid control strategy considering disturbance influence
PendingCN114696364AAvoid centralized secondary controlGood distributed collaboration abilitySingle network parallel feeding arrangementsPhysical layerConsistency control
The invention discloses a distributed micro-grid control strategy considering disturbance influence. Designing a network layer and physical layer control structure; designing a sliding mode consistency controller with a virtual leader node based on a sliding mode control-discrete consistency theory; constructing a physical layer, completing one-time control of voltage and frequency of each distributed power supply of the microgrid, completing droop control through local information, maintaining stability of voltage and frequency of the system, and outputting corresponding power according to an instruction; constructing a network layer to complete distributed secondary control, regarding each distributed power supply as a multi-agent node, only communicating with adjacent nodes to form a spanning tree sparse communication matrix, and setting a virtual leader node to obtain global reference information; the droop control output voltage frequency of each distributed power supply is regarded as a state quantity, and secondary control is designed to realize convergence of the voltage frequency to a given reference value. The communication requirement is reduced, the frequency voltage deviation is eliminated, the system disturbance condition is considered, and the system robustness is improved.
Owner:NANJING INST OF TECH
Air multi-agent distributed elliptical surround guidance method with space-time decoupling characteristic
PendingCN114115272AAvoid uniformityInhibition dispersionPosition/course control in two dimensionsAngular velocityTime space
The invention discloses an air multi-agent distributed elliptical surround guidance method with a space-time decoupling characteristic, and relates to the field of multi-agent cooperative path following control. The method comprises the following steps of: firstly, assigning implicit description of an elliptical reference path under a given inertial system to a virtual leader in a cluster system according to an aerial multi-agent distributed periodic target / region observation task scenario, and designing a forward speed and an angular speed of the virtual leader; secondly, in order to ensure that the following agent is asymptotically converged to an elliptical reference orbit and maintains surrounding flight, establishing a composite function containing a collaborative consistency error and a yaw angle tracking error, and calculating the angular velocity of the following agent to realize a preset space task; and finally, introducing a projection arc length calculation rule under a polar coordinate system to achieve the effect of equal-arc-length formation of the following agents along the elliptical orbit and keeping forward speed synchronization, designing the forward speed of the following agents, and realizing a preset dynamic task. The problem that multiple agents are uniformly dispersed in the elliptical orbit at a constant speed is successfully solved.
Owner:ZHONGBEI UNIV
Networked surface ship tracking control method, device, equipment and storage medium
The invention provides a networked surface ship tracking control method, device, equipment and storage medium. The method includes: modeling the surface ship, obtaining a dynamic and kinematic model, setting a virtual leader, and setting the rest It is a follower; establish a directed topology map between surface ships; according to the dynamic and kinematic model and directed topology map, design the sliding mode surface and control algorithm under the hierarchical control framework, including: distributed estimation layer The control algorithm and the control algorithm of the local control layer; the state of the virtual leader is estimated according to the control algorithm of the distributed estimation layer, and the followers reach the formation formation at this layer to realize formation control; each water surface is driven according to the control algorithm of the local control layer The ship is tracked to the virtual leader for a predefined time. The layered control algorithm is used to realize the formation tracking control of surface ships, and the system state can converge to the origin on the new sliding surface, and can be applied to different complex systems.
Owner:CHINA UNIV OF GEOSCIENCES (WUHAN)
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