一种基于透射不变性原理的高机动编队控制方法  

A high-mobility formation control method based on the principle of projective invariance

作　　者：王常虹[1] 陈济泽 Changhong WANG;Jize CHEN(Space Science and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学空间科学与惯性技术研究中心,哈尔滨150001

出　　处：《中国科学：信息科学》2023年第10期1965-1981,共17页Scientia Sinica(Informationis)

基　　金：黑龙江头雁计划(批准号:AUEA5640209120)资助项目。

摘　　要：本文给出了一种具有高机动性的透射编队控制方法,解决了经典的仿射编队控制受限于平行关系的常约束,无法直接实现战术攻防上常用的前后三角、前后梯形等队形的快速切换问题.该方法受启发于框架理论中的透射不变性原理,通过引入透射像和自应力矩阵来对编队构型进行定义,实现了在仅增加一个领航者且队形凹凸性不变的前提下,任意目标队形的保共线和交比的一致性跟踪,提高了队形的可操作性.所推导的透射可定位条件和队形连续变换条件为透射编队控制的应用提供了理论依据.此外,在攻防切换任务和联合切换任务两种情景下的仿真测试结果也进一步证明了该编队控制方法的可靠性.To address the problem that the classical affine formation control is limited by the constant constraint relation of parallel and cannot directly realize the rapid switching of the front and back triangle and front and back trapezoid formations commonly used in tactical attack and defense,a projective formation control method with higher formation maneuverability is proposed in this paper.Inspired by the principle of projective invariance in framework theory,the formation configuration is defined by the projective image and a self-stress matrix,and the collinear consistency tracking of any target formation is attained under the premise that only one pilot is added and the concavity of formation is unchanged,and the controllable degree of freedom of formation is improved.In addition,the necessary and sufficient conditions for projective localizability and transmission continuous transformation provided a theoretical guarantee for the application of the transmission formation control method.Finally,the simulation test of the offensive and defensive switching and joint switching tasks further confirmed the reliability of the control method.

关 键 词：透射变换 编队控制 战术任务 多智能体系统 自应力矩阵 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] E91[自动化与计算机技术—控制科学与工程]