Cooperative target tracking-fencing control for heterogeneous MAS

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters Pub Date : 2025-10-14 DOI:10.1016/j.sysconle.2025.106262

Hao Yu, Xiu-xia Yang, Yi Zhang, Wen-qiang Yao

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引用次数: 0

Abstract

This paper develops a cooperative control scheme for heterogeneous MAS (multi-agent system) to address the tracking and fencing problem of a non-cooperative maneuvering target. The proposed hierarchical scheme achieves multi-objective cooperative control of state estimation, tracking-fencing, and guidance. Firstly, a prescribed-time convergent distributed observer is constructed to achieve rapid and accurate estimation of unknown target motion. Secondly, an adaptive tracking controller with unknown input compensation is designed to maintain stable tracking with a time-varying formation configuration. Thirdly, a second-order center state estimator is developed to resolve state dimensionality discrepancies across heterogeneous platforms, providing precise guidance information for low-dimensional agents. Finally, a fencing controller with collision avoidance constraints and an angle tracking controller are designed, enabling the agents to self-organize into a stable fencing configuration. Simulations confirm that the proposed method enables cooperative tracking-fencing against unknown target maneuvers via heterogeneous agents.

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异构MAS的协同目标跟踪-围栏控制

针对非合作机动目标的跟踪与隔离问题，提出了一种异构多智能体系统的协同控制方案。提出的分层方案实现了状态估计、跟踪围栏和制导的多目标协同控制。首先，构造一个规定时间收敛的分布式观测器，实现对未知目标运动的快速准确估计；其次，设计了具有未知输入补偿的自适应跟踪控制器，在时变编队构型下保持稳定跟踪。第三，提出了一种二阶中心状态估计器来解决异构平台间的状态维数差异，为低维智能体提供精确的引导信息。最后，设计了具有避碰约束的围栏控制器和角度跟踪控制器，使智能体能够自组织形成稳定的围栏配置。仿真结果表明，该方法能够通过异构智能体实现对未知目标机动的协同跟踪防御。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Systems & Control Letters 工程技术-运筹学与管理科学

CiteScore

4.60

自引率

3.80%

发文量

144

审稿时长

6 months

期刊介绍： Founded in 1981 by two of the pre-eminent control theorists, Roger Brockett and Jan Willems, Systems & Control Letters is one of the leading journals in the field of control theory. The aim of the journal is to allow dissemination of relatively concise but highly original contributions whose high initial quality enables a relatively rapid review process. All aspects of the fields of systems and control are covered, especially mathematically-oriented and theoretical papers that have a clear relevance to engineering, physical and biological sciences, and even economics. Application-oriented papers with sophisticated and rigorous mathematical elements are also welcome.