无人艇集群最优协同控制反演

张振华; 李 尧; 俞成浦

doi:10.11993/j.issn.2096-3920.2020.06.004

无人艇集群最优协同控制反演

doi: 10.11993/j.issn.2096-3920.2020.06.004

北京理工大学自动化学院, 北京, 100081

基金项目: 国家自然科学基金重大项目课题(61991414).

详细信息

通讯作者:
俞成浦(1984-), 男, 博士, 教授, 主要研究方向为系统辨识与机器学习、分布式优化与控制、无线传感器网络与室内定位.

中图分类号: TJ630 U664.82 TP273.1
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- 被引次数: 0
出版历程
- 收稿日期: 2020-09-04
- 修回日期: 2020-10-16
- 刊出日期: 2020-12-31

Inverse Optimal Cooperative Control for Unmanned Surface Vessel Cluster

School of Automation, Beijing Institute of Technology, Beijing 100081, China

摘要

摘要: 为实现通过数据驱动学习人为操作下的无人艇集群最优协同控制策略, 文中提出了一种线性二次型闭环微分博弈反演优化算法, 根据观测到的系统最优状态和控制输入轨迹辨识协同策略目标函数。首先, 根据观测到的含加性白噪声的最优系统状态和控制输入轨迹辨识最优反馈矩阵; 然后, 通过求解由纳什平衡充要条件推出的耦合代数黎卡提方程的解来辨识协同策略目标函数。所提出的反演优化算法能够获得满足给定系统状态和控制输入轨迹的最优协同策略目标函数; 同时, 该算法辨识出的目标函数可以用于实现针对特定任务场景的无人艇集群最优协同控制, 并为集群的对抗博弈提供新的思路和解决方案。
- 无人艇集群 /
- 最优协同控制 /
- 反演优化 /
- 耦合代数黎卡提方程
Abstract: To realize an optimal cooperative control strategy of unmanned surface vessel(USV) clusters under artificial control through data-driven learning, a linear quadratic closed-loop differential game inverse optimization algorithm is proposed. The algorithm can identify the cooperative strategy objective function according to the optimal system state and control input trajectories. In this study, an optimal feedback matrix is first identified based on the observed optimal system state and control input trajectories with additive white noise. The cooperative strategy objective function is then identified after solving the coupled algebraic Riccati equations derived from the necessary and sufficient conditions for Nash equilibria. The proposed inverse optimization algorithm can obtain the optimal cooperative strategy objective function to satisfy the given system state and control input trajectories. The objective functions identified by the inverse optimization algorithm can then be used to achieve an optimal cooperative control of USV clusters for specific task scenarios and provide new ideas and solutions for cluster adversarial games.
- unmanned surface vessel(USV) cluster /
- optimal cooperative control /
- inverse optimization /
- coupled algebraic Riccati equations

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参考文献(13)

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