单个追击者与两目标追逃对抗建模及仿真

本文建立了单个追击者与两目标追逃对抗微分对策模型,给出了追击者可达区域覆盖逃避者可达区域的条件,构造了追击者与逃避者的最优位置策略和、被捕获的初始点集区域,最后给出了相应的计算机仿真实例。     

基于协同进化的平面追逃对策研究

建立了二维平面内动力学约束下迫逃运动的数学模型.首先为追捕者设计了基于比例制导算法和进化算法的混合追捕策略,以提高其追捕能力;然后利用协同进化算法对追捕者和逃跑者的追选策略进行进化.仿真结果表明,进化后的逃跑策略能有效规避比例制导的追捕者.逃跑者在协同进化过程中涌现出众多复杂多变的规避策略.     

动压-过载约束下无人机追逃最优机动决策研究

针对动压-过载约束下的无人机追逃机动控制问题,为优化设计,提出了采用微分对策的时间最优机动决策算法。首先建立无人机追逃质点动力学模型,然后根据双方极值原理,建立系统在动压-过载约束与追逃性能指标下的哈密顿-雅可比方程,通过此方程将无人机追逃机动控制问题转化为两点边值优化问题,并利用配点法求解两点边值问题的数值解,从而获得相应无人机的最优机动控制策略。最后以某型无人机纵向追逃控制为例进行数值仿真。仿真结果表明,改进算法不仅能有效求解无人机追逃双方的最优机动控制策略,而且满足期望的追踪性能指标和动压-过载约束条件。     

卫星通信对抗系统仿真

文阐述了卫星通信对抗系统体系结构的空天一体化思想,经功能分析后简要介绍了其基于HLA仿真系统的模型与成员设计,并给出经对抗模拟后得出的有关启示.     

水声对抗仿真系统中鱼雷仿真研究

鱼雷仿真是水声对抗仿真系统中作为攻击方的重要组成模块,其性能对整个仿真系统有着直接的影响.该文结合水声对抗仿真系统的研究,描述了其中鱼雷仿真的实现过程及其中的关键技术,包括鱼雷自导系统仿真、鱼雷弹道仿真等具体内容.     

基于HLA的雷达对抗仿真研究

HLA作为一种IEEE通过的分布式仿真标准,可用于武器性能评估仿真和人员训练仿真.同时,雷达对抗作为一项重要的电子对抗内容,其仿真试验系统和训练系统的建设一直受到人们的重视,该文针对雷达对抗的技术特点,分析了雷达对抗数学仿真系统中的雷达模型、目标和环境模型,然后以HLA为基础,提出了数学仿真系统的体系结构.     

基于HLA的雷达对抗训练仿真系统研究

根据当前仿真技术的发展以及雷达对抗训练的实际需求,提出并设计了基于HLA的雷达对抗训练仿真系统的体系结构,并对各联邦成员的构成、开发过程以及关键技术进行了研究。基于联邦开发执行的标准过程FEDEP,利用HLA开发工具和VC++开发平台设计、实现了雷达对抗训练仿真系统,验证了方法的可行性和有效性。     

水声对抗仿真系统中评估方案和准则研究

水声对抗仿真评估系统在实验室条件下模拟舰艇和来袭鱼雷的对抗过程.其中,对对抗双方来讲,对抗的效果都是一个需要关注的问题.因此,有效评价对抗效果就成为仿真系统中一个重要的研究方面.该文研究了水声对抗仿真系统中适合的对抗效果评估指标和方案.     

相交双圈图的代数连通度的排序

简单连通图若边数等于顶点数加1,且图中所含的两个圈至少有两个公共顶点,则称该图为相交双圈图。主要给出了相交双圈图中第五到第十大代数连通度的图类。     

Algebraic criteria for consensus problems of continuous-time networked systems

This article addresses algebraic criteria for consensus problems of continuous-time networked systems with fixed and switching topology. A special eigenvector ω of the Laplacian matrix is first constructed and correlated with the connectivity of digraph. And then, some necessary and/or sufficient algebraic conditions are presented by employing the vector ω, which can directly determine whether the consensus problem can be solved. More importantly, for the switching topology case, the obtained algebraic conditions for the average consensus problem are necessary and sufficient. Furthermore, the presented results clearly show that only the agents corresponding to the positive elements of ω contribute to the group decision value and decide the collective behaviour of the system. Particularly for the fixed topology case, the role of each agent is exactly measured by the value of the corresponding element of ω. Based on these results, some extended protocols are further proposed to solve the average consensus problem, in which the interaction digraphs are not needed to be balanced. Numerical examples are included to illustrate the obtained results.     

多智能体有向网络的加权平均一致性

对多智能体有向网络的一致性问题进行了研究。提出了加权平均一致性的新概念,基于一类分散协调控制器使多智能体网络在固定的网络拓扑取得全局渐近加权平均一致性。从理论上证明了有向网络的强连通性及一类称为平衡图的有向图在解决加权平均一致性问题中扮演着关键角色。最后,给出了一个仿真示例,对理论结果进行了验证。     

Parameterized pursuit-evasion games

We study the parameterized complexity of four variants of pursuit-evasion on graphs: Seeded Pursuit Evasion, Short Seeded Pursuit Evasion, Directed Pursuit Evasion and Short Directed Pursuit Evasion. Both Seeded Pursuit Evasion and Short Seeded Pursuit Evasion are played on undirected graphs with given starting positions for both the cops and the robber. Directed Pursuit Evasion and its short variant are played on directed graphs, with the players free to choose their starting positions. We show for Seeded Pursuit Evasion and Directed Pursuit Evasion that finding a winning strategy for the cops is AW[*]-hard when we parameterize by the number of cops. Further, we show that the short (k-move) variants of these problems (Short Seeded Pursuit Evasion and Short Directed Pursuit Evasion) are AW[*]-complete when we parameterize by both the number of cops and turns.     

复杂三维多面体环境中空地协作追逃问题

结合无人机(UAV)的空中移动和无人车(UGV)的地面移动特点,本文提出了一种UAV/UGV空地协作系统,并且针对其在复杂地形中的追逃问题,提出了一种复杂三维多面体环境中UAV/UGV空地协作追逃策略.首先介绍了UAV/UGV空地协作系统的结构与协作追逃问题描述.接着将边界值问题(BVP)改进并离散化作为博弈走法生成器...     

一类分布式队形控制及其稳定性分析

针对一类具有二阶动态行为的多机器人系统的队形控制问题, 提出了一种分布式离散协同控制算法, 并应用代数图论和矩阵论的方法对该系统的渐近稳定性和算法的一致收敛性进行分析. 应用上述方法, 证明了确保多智能体系统渐近收敛的充要条件,得到了反馈控制参数的取值范围. 同时证明了在该充要条件下多机器人将逐步收敛到期望队形和同一运动速度. 仿真部分通过一个六机器人系统的队形控制验证了本文研究结果的正确性.     

Equilibrium Strategy of the Pursuit-Evasion Game in Three-Dimensional Space

The pursuit-evasion game models the strategic interaction among players, attracting attention in many realistic scenarios, such as missile guidance, unmanned aerial vehicles, and target defense. Existing studies mainly concentrate on the cooperative pursuit of multiple players in two-dimensional pursuit-evasion games. However, these approaches can hardly be applied to practical situations where players usually move in three-dimensional space with a three-degree-of-freedom control. In this paper, we make the first attempt to investigate the equilibrium strategy of the realistic pursuit-evasion game, in which the pursuer follows a three-degree-of-freedom control, and the evader moves freely. First, we describe the pursuer’s three-degree-of-freedom control and the evader’s relative coordinate. We then rigorously derive the equilibrium strategy by solving the retrogressive path equation according to the Hamilton-Jacobi-Bellman-Isaacs (HJBI) method, which divides the pursuit-evasion process into the navigation and acceleration phases. Besides, we analyze the maximum allowable speed for the pursuer to capture the evader successfully and provide the strategy with which the evader can escape when the pursuer’s speed exceeds the threshold. We further conduct comparison tests with various unilateral deviations to verify that the proposed strategy forms a Nash equilibrium.

     

Leader-following consensus of high-order multi-agent linear systems with bounded transmission channels

The leader-following consensus of high-order multi-agent linear systems with bounded transmission channels is considered. Agents modelled as LTI dynamics exchange information according to a network which can be described as a graph with agents as its vertices and information transmission channels as its edges. The transmission channels are bounded. The objective is leader-following in the sense that the state of all agents should converge to that of the leader vehicle. Detailed analysis of the leader-following consensus under bounded transmission channels is investigated for both fixed and switching network topologies.     

有向图下非线性无人机群自适应合围控制

本文研究了有向图下具有非线性和干扰的无人机群的分布式合围控制问题. 其中仅部分跟随者是领导者的邻 居, 对于每一个跟随者, 至少存在一条从领导者到这个跟随者有向路径. 文中假设无人机的空气动力学特性是非线性不 确定的, 并且领导者的输出是时变的. 结合反推设计方法提出了仅利用邻居信息的分布式合围控制方法, 使得跟随者的 状态收敛于领导者状态所张成的凸包里. 利用神经网络函数逼近技术补偿无人机系统中的非线性不确定项, 通过李雅普 诺夫稳定性理论证明了合围误差可以以任意收敛速度收敛到原点任意小的邻域. 最后通过仿真结果验证了控制协议的 有效性.