有向图下基于速度估计器的多智能体系统目标拦截控制  

Target interception control of multi-agent system based on velocity estimator under directed graph

作　　者：王圆妹[1] 李世豪 李涛 惠英文 韩静 WANG Yuanmei;LI Shihao;LI Tao;HUI Yingwen;HAN Jing(School of Electronic Information and Electrical Engineering,Yangtze University,Jingzhou 434023,Hubei;School of Electrical Engineering and Automation,Hubei Normal University,Huangshi 435002,Hubei)

机构地区：[1]长江大学电子信息与电气工程学院,湖北荆州434023 [2]湖北师范大学电气工程与自动化学院,湖北黄石435002

出　　处：《长江大学学报(自然科学版)》2025年第1期119-126,共8页Journal of Yangtze University(Natural Science Edition)

基　　金：国家自然科学基金项目“复杂动态突变环境下混杂自主系统的协同与对抗研究”(62473135)。

摘　　要：论文针对有向图下目标速度未知的多智能体系统目标拦截控制问题进行了深入研究,利用邻居智能体之间的相对位置信息设计跟随者的编队跟踪误差并构造滑膜量。使用编队跟踪误差和滑膜面对每个跟随者设计分布式编队跟踪控制协议,证明了多智能体系统在该控制协议作用下能实现编队控制,并消除了队形模糊的问题。根据领导者与目标之间的位置误差设计目标的速度估计器,实现动态预测目标的未知速度,并结合分布式编队跟踪控制协议和速度估计器设计目标拦截控制协议。基于代数图论和李雅普诺夫稳定性理论分析得到了实现目标拦截控制的充分条件,详细讨论并证明了该系统的稳定性,由仿真实验结果验证了理论结果的有效性。This paper studies the target interception control problem of multi-agent systems with an unknown target velocity under a directed graph in detail.First,the formation tracking error is obtained based on neighbor relative position information for each follower and the sliding mode surface is constructed.Further,the distributed formation tracking control protocol based on the formation tracking error and sliding mode surface for each follower is proposed.Under the control protocol,the desired formation control can be achieved,eliminating the problem of formation shape ambiguities.Moreover,a velocity estimator is constructed based on the position error between the leader and target to dynamically observe the target velocity.Then,the target interception control protocol is presented based on the formation tracking control protocol and the velocity estimator.Utilizing algebraic graph theory and Lyapunov stability theory,the sufficient conditions of target interception are obtained.The stability of the system is proved in detail.Finally,numerical simulations are given to verify the effectiveness of theoretical results.

关 键 词：多智能体系统 目标拦截 有向图 速度估计器 积分滑膜 

分 类 号：O157.5[理学—数学]