Multi-agent Tracking Formation Control Under Unknown Flow Fields

Multi-agent tracking formation control is a hot problem in cooperative control of multiagent systems.With the development of computer,communication and artificial intelligence,tracking formation control has been applied to military,aerospace,industrial and other fields.Most of the previous studies have ignored the influence of external flow fields on the tracking formation.Even if the effect of flow field is considered,it is only under the assumption that the information of the flow field model is fully or partially known.In fact,the real flow field often changes rapidly,so it is difficult to obtain its information model.Therefore,it is of great theoretical and practical significance to study the multi-agent tracking formation control problem in completely unknown flow field.Firstly,a tracking formation control scheme based on nonlinear disturbance observer is proposed to solve the problem that multi-agents with unicycle kinematics model in two-dimensional space are susceptible to external flow field disturbance,and then the above method is extended to three dimensional space to solve the spherical tracking formation control problem of second order agents under unknown Euler flow field.The main research contents are as follows:1.The tracking formation control problem in a two-dimensional Euler flow field with unknown velocity and direction is studied.Firstly,the kinematic model of multiple agents in the unknown Euler flow field is established,and the trajectory geometry expansion method and consistency theory are used to describe the tracking formation control problem.Then,the unknown flow field is regarded as disturbance,and a compound controller based on nonlinear extended disturbance observer is proposed to realize the tracking and formation motion of a given orbit.Finally,the influence of different frequency flow fields on the tracking formation is discussed by numerical simulation,and the results are compared with those of the existing known flow fields,which further verifies the effectiveness of the control method.2.The spherical formation control of second-order agents in an unknown Euler flow field is studied by extending the two-dimensional formation control method to three-dimensional space.Firstly,a kinematic model of second-order agents in an unknown flow field is established,and the spherical tracking formation problem is described by geometric expansion method and consistency theory.Then,the unknown flow field is regarded as disturbance,and a spherical tracking formation compound controller based on an improved nonlinear disturbance observer is proposed to realize spherical landing,orbit entry and formation motion of second-order agents.Finally,the effectiveness of the theoretical algorithm is further verified by MATLAB numerical simulation and comparison with the tracking formation effect based on traditional nonlinear disturbance observer control.