基于势函数的护卫队形控制  

Safeguarded Formation Control Via the Artificial Potential Method

作　　者：宋艳荣[1] 王兴平[1] 张术东[1] 姚立强[1] 

机构地区：[1]海军航空工程学院基础部

出　　处：《海军航空工程学院学报》2011年第6期622-627,共6页Journal of Naval Aeronautical and Astronautical University

基　　金：海军航空工程学院基础研究基金资助项目(HYJC2011)

摘　　要：利用Multi—agent理论研究一类位置一速度模型的护卫队形控制问题。研究的问题中同时考虑队形实现和过程避碰两个因素，基于势函数方法给出了控制器设计．在设计的控制器作用下，编队中的护卫者能按指定队形护卫被护卫者，并保证在运动过程中编队成员间不发生碰撞。In this paper, a safeguarded formation control algorithm was proposed for a position-velocity safeguarded formation control system using multi-agent theory. In the study, based on artificial potential method, a distributed safeguarded formation control algorithm was presented. It was guaranteed that the system asymptotically converged to the pre-specified safeguarded formation on the effect of the control. And it could be proved that during achieving the objective, collisions among the members in the formation were avoided.

关 键 词：队形控制 护卫队形 避碰 人工势场法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]