Stacked geometric similar formation control method based on Ahattai circle characteristics
The invention relates to a stacked geometric similar formation control method based on Ahattai circle characteristics. The method comprises the following steps: constructing a stacked similar formation topology architecture of a plurality of formation intelligent agents, and determining adjacent int...
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| Format: | Patent |
| Sprache: | chi ; eng |
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| Zusammenfassung: | The invention relates to a stacked geometric similar formation control method based on Ahattai circle characteristics. The method comprises the following steps: constructing a stacked similar formation topology architecture of a plurality of formation intelligent agents, and determining adjacent intelligent agents of each intelligent agent; determining an expected geometric constraint relationship between the intelligent agents according to the adjacent intelligent agents of each intelligent agent and the formation expected configuration; converting the expected geometric constraint relation into an Ahattai circle constraint according to the property of the Ahattai circle; determining a control law for realizing the formation expected configuration according to the Ahattai circle constraint; and according to the similar formation property, the control law and the stacked similar formation topology architecture, determining a stacked geometric similar formation control law. Compared with a traditional multi-ag |
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