Formation-containment tracking intelligent control for heterogeneous swarm systems under unknown input
Linbo Wang, Mengyi Wang, Siquan Zhou, Yong Jiang, Yongzhao Hua, Xiwang Dong · Scientia Sinica Technologica · 2021
The containment tracking control of swarm systems is an important approach for the emergence of swarm intelligence at the control level, which has potential applications in the intelligent war era. Aiming at the requirements of military tasks in the future battlefield and focusing on typical mission scenarios, such as military goods and important people escort, this thesis investigates the distributed formation-containment tracking control problem of heterogeneous swarm systems under an unknown input to realize intelligence emergence in air-ground cooperative operation. First, the algebraic graph theory is introduced to establish a hierarchical heterogeneous swarm system model with unknown input. Next, in combination with the adaptive control law and by using the local information interaction between neighbors, the edge-based distributed formation-containment tracking controllers are designed, and the stability of the closed-loop swarm systems is proven; otherwise, the more complex swarm intelligence characteristics in this thesis are analyzed and summarized. Finally, a simulation example is provided to demonstrate that the proposed approach can achieve the expected formation-containment tracking control. A physical equivalent verification system is also established to verify the effectiveness of the approach, which provides strong theoretical support for the large-scale cooperative escort of air-ground.