刚体运动群上的网络化多智能体系统协调控制及应用

Cooperative control of networked multi-agent systems on rigid motion group considers sufficiently the intrinsic coupling relations between the position and attitude of agents. It is the key technology of some multi-UAV cooperative combat missions in future air war, such as cooperative surrounding and attacking of the high-mobility warplanes. Based on the motion planning approaches on nonlinear manifolds, we plan to focus on the cooperative control of networked multi-agent systems described by dynamical models on rigid motion group under general communication topologies and its applications in multi-UAV cooperative combats. By designing the piecewise motion planning algorithms, the cooperative control of multi-agent systems is developed under general communication topologies and then applied to cooperative surrounding and tracking control of multi-UAV systems. All the work can develop a novel approach for the cooperative control of multi-agent systems on rigid motion group. The approach breaks through the conservative assumptions for communication topologies, which induced by the exiting cooperative control methods of multi-agent systems on rigid motion group, and can be used to solve the cooperative control of multi-agent systems on rigid motion group under general communication topologies. Therefore, the project will not only promote the development of the cooperative control theory on rigid motion group, but also establish the significant theoretical foundation for multi-UAV cooperative combats.

刚体运动群上的网络化多智能体系统协调控制充分考虑了智能体位置和姿态之间固有的耦合关系，是未来空战中完成对强机动性战斗机进行多无人机群体协同包围、打击等作战任务的关键技术。本项目拟基于非线性流形上的运动规划方法，利用分段规划和总体收敛的研究思想，重点研究一般通讯拓扑下，刚体运动群上动力学模型描述的网络化多智能体系统协调控制，及其在多无人机协同作战中的应用。通过设计分段规划算法，实现了一般通讯拓扑下，刚体运动群上动力学模型描述的网络化多智能体系统协调控制，并将控制算法应用到多无人机协调跟踪和包围控制。经过本项目研究，提出了刚体运动群上协调控制新方法，此研究方法突破了已有的刚体运动群上协调控制方法对于通讯拓扑的保守假设，可用来解决一般通讯拓扑下刚体运动群上的多智能体系统协调控制问题。因此，本项目研究不仅推动了刚体运动群上协调控制理论的发展，而且为多无人机协同作战提供了重要的理论基础。

网络化多智能体系统协调控制是未来空战中完成对强机动性战斗机进行多无人机群体协同包围、打击等作战任务的关键技术。本项目基于庞特里亚金极大值原理，运用运动规划方法，建立了分段规划和总体收敛的理论研究框架与思想，在一般有向通讯拓扑下，研究刚体运动群上动力学模型描述的网络化多智能体系统协调控制问题，及线性多智能体系统指定时间协调控制问题，应用于多无人机协同作战中。通过设计分段规划算法，实现了一般通讯拓扑下，网络化多智能体系统协调控制，并将控制算法应用到多无人机协调跟踪和包围控制。本项目提出了多智能体系统协调控制新方法，此研究方法突破了已有的协调控制方法对于通讯拓扑的无向假设，解决了一般通讯拓扑下多智能体系统指定时间协调控制问题。因此，本项目研究不仅推动了多智能体系统协调控制理论的发展，而且为多无人机协同作战提供了重要的理论基础。