摘要
针对一阶非线性系统的单目标动态跟踪与围捕控制问题,提出了一种联合跟踪与围捕算法:跟踪过程采用序列多假设跟踪算法(SMHT),在杂波环境中获得目标状态估计后,基于一致性理论设计了一种控制器实现多智能体系统对单目标动态围捕,把系统一致性问题转化为误差稳定性问题,利用代数图论、矩阵理论和Lyapunov稳定性分析的方法,得到了多智能体系统和动态单目标误差趋于常数的条件。仿真实验表明该联合跟踪与围捕算法使多智能体系统形成并保持一个固定编队围捕动态目标,实现了多智能体对单目标的动态跟踪与围捕。
Aiming at the single target dynamic tracking and hunting control problem of first-order nonlinear systems,a joint tracking and hunting algorithm is proposed in this paper.The tracking process uses the sequence multiple hypothesis tracking(SMHT)algorithm to obtain the target state estimation in the clutter environment.Based on the consensus theory,a controller is designed to realize the multi-agent system’s dynamic hunting of a single target.By using algebraic graph theory,matrix theory and Lyapunov stability analysis methods,the conditions under which the errors tend to be constant for multi-agent systems and dynamic single targets are obtained.The simulation experiments show that the joint tracking and hunting algorithm proposed in this paper enables the multi-agent system to form and maintain a fixed formation to hunt dynamitic targets,and realizes the dynamic tracking and hunting of multi-agent to single target.
作者
茹心锋
刘伟峰
田正旺
RU Xin-feng;LIU Wei-feng;TIAN Zheng-wang(School of Automation,Hangzhou Dianzi University,Hangzhou 310018,China)
出处
《控制工程》
CSCD
北大核心
2021年第7期1430-1436,共7页
Control Engineering of China
基金
国家自然科学基金资助项目(61771177)。
关键词
一阶非线性系统
目标动态跟踪与围捕
序列多假设跟踪算法
一致性控制
First-order nonlinear system
target dynamic tracking and hunting
sequence multiple hypothesis tracking algorithm
consistency control
