线性二次型及模型预测控制编队控制研究

doi:10.3969/j.issn.1009-086x.2021.01.007

现代防御技术 ›› 2021, Vol. 49 ›› Issue (1): 47-52.DOI: 10.3969/j.issn.1009-086x.2021.01.007

线性二次型及模型预测控制编队控制研究

武梅丽文¹, 王晓东¹, 宋勋¹, 陈燕飞²

1.北京电子工程总体研究所,北京 100854;
2.空军装备部驻北京地区第一军事代表室,北京 100854

收稿日期:2020-09-02 修回日期:2020-10-19 出版日期:2021-02-20 发布日期:2021-03-04
作者简介:武梅丽文(1992-),女,北京人。工程师,博士,主要研究方向为飞行器导航制导与控制。通信地址:100854 北京142信箱30分箱 E-mail:wu_mlw@buaa.edu.cn

Formation Control with Linear Quadratic Regulator and Model Predictive Control

WU Mei-liwen¹, WANG Xiao-dong¹, SONG Xun¹, CHEN Yan-fei²

1. Beijing Institude of Electronic System Engineering,Beijing 100854,China;
2. First Military Representative Office of Air Force Equipment Department in Beijing,Beijing 100854,China

Received:2020-09-02 Revised:2020-10-19 Online:2021-02-20 Published:2021-03-04

摘要/Abstract

摘要： 多智能体集群作战是未来战场的重要形式。作为集群作战中的关键技术,编队控制有着广泛的应用。以编队控制律为研究目标,选择2种优化控制方法:线性二次型调节器(linear quadratic regulator,LQR)方法和模型预测控制(model predictive control,MPC)方法。针对圆形编队轨迹,采用二阶动力学模型,基于相似一致性算法,在二维平面上仿真4个智能体绕轨迹中心旋转的编队运动场景,探究2种优化控制方法仿真效果。结果表明模型预测控制相比线性二次型调节器控制收敛速度更快,控制稳定性更高,侧向误差更小。增加侧向加速度补偿之后编队智能体在模型预测控制的作用下,圆形轨迹侧向追踪误差大幅度降低。

关键词: 集群作战, 编队控制, 线性二次型控制, 模型预测控制, 相似一致性, 时变编队

Abstract: Multi-agent group combat is an important form in the future battlefield.As a key technology in group operations,formation control has a wide range of application.Focusing on the formation control law,two optimal control methods are applied:linear quadratic regulator (LQR) and model predictive control (MPC).The methods are analyzed in a circular formation scene.Based on the similarity consistency algorithm,utilizes second-order dynamic model to explore the optimal control effect of four agents rotating around the trajectory center in the two-dimension plane.The results show that the model predictive control has larger speed of convergence,higher control stability and smaller side errors than the linear quadratic regulator method.The lateral error of the formation agent following a circular trajectory is greatly reduced by MPC with lateral acceleration compensation.

Key words: swarms warfare, formation control, linear quadratic regulator (LQR), model predictive control (MPC), Similarity consistency algorithm, time-varying control

中图分类号:

E837
TJ01

武梅丽文, 王晓东, 宋勋, 陈燕飞. 线性二次型及模型预测控制编队控制研究[J]. 现代防御技术, 2021, 49(1): 47-52.

WU Mei-liwen, WANG Xiao-dong, SONG Xun, CHEN Yan-fei. Formation Control with Linear Quadratic Regulator and Model Predictive Control[J]. Modern Defense Technology, 2021, 49(1): 47-52.

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线性二次型及模型预测控制编队控制研究

Formation Control with Linear Quadratic Regulator and Model Predictive Control

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