智能群体环绕运动控制

自然界中，鸟类迁徙、鱼类群游等群体智能运动具有一定的规律。例如，鸟类迁徙以领导者和跟随者模式的直线运动为主，鱼类中以环绕运动为主。自然界的这种群体直线运动与环绕运动具有十分重要的理论研究价值和广泛的工程应用前景。本文针对群体环绕运动进行研究，考虑个体只能获取局部目标信息这一特性，设计均值估计器进行群体目标状态估计，建立环绕运动算法，确保实现群体圆形编队且保持队形。通过李雅普诺夫理论分析，证明每个个体在有限时间内能获取所有目标平均位置信息，且能基于群体圆形编队队形进行目标环绕和追踪，队形随目标状态变化。有关结果通过仿真得到进一步验证。

In nature, the motion of swarm intelligence has a regularity such as the line motion based bird migration, the circle motion based fish swarming, etc., which has important theoretical significance and vast application prospect in engineering practice. In this paper, we investigate the distributed encirclement control problem of a group of multi-agent systems. With considering the feature that each agent can achieve local target information, we design an averaging estimator to achieve the target information, and propose a distributed control scheme to achieve the encirclement and keep the formation changing with the target states. By Lyapunov theory analysis, it is proved that each individual agent can achieve the information about the marked arerage position in a finite time, encircle and pursue the targets based on the encirclement formation. Finally, a numerical example is presented to illustrate the obtained theoretical results. © 2014 Chinese Physical Society.