编队构成中基于增量次梯度的分布式能量最优控制  

Incremental Subgradients Based Distributed Energy-Optimal Control for Formation Configuration

作　　者：李远[1] 苏菲[1] 沈林成[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《信息与控制》2010年第3期257-262,共6页Information and Control

基　　金：国防基础科研资助项目(A2820080247)

摘　　要：针对自由终端约束下自主平台编队构成中的能量最优控制问题展开研究.在单个平台能量最优控制二次规划模型的基础上,建立了自由终端约束的多半台能量最优控制模型,目的是通过选择合理的终端状态来减小编队构成过程中的能量消耗.提出了基于增量次梯度算法的分布式优化方法,其中各平台独立规划自身轨迹,并基于次梯度信息更新期望的终端状态,进而经过平台间相互协商以确定可最小化编队总能量消耗的终端状态.仿真结果表明了方法的有效性.The energy optimal control problem with free terminal states constraint for autonomous vehicles formation configuration problem is studied.In order to minimize the energy consumption in formation configuration through choosing reasonable terminal state,the optimal control model with free terminal states constraint for multi vehicles is built on the basis of quadratic programming model for single vehicle energy optimal control problem.The incremental subgradients based decentralized optimization method is proposed.In this scheme,each vehicle only plans its own trajectory,and updates the desired states based on subgradients information.By means of mutual negotiation between vehicles,the terminal states which minimize the energy consumption of whole formation is obtained.Simulation results demonstrate the effectiveness of the approach proposed.

关 键 词：轨迹规划 增量次梯度 分布式优化 编队控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]