Open AccessMacroscopic stable mechanism of autonomous cooperative system
Author(s) -
Ru Chang-Jian,
Wei Rui-xuan,
Xiaoming Qi,
Jun Chen,
Qing Guo
Publication year - 2015
Publication title -
wuli xuebao
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.199
H-Index - 47
ISSN - 1000-3290
DOI - 10.7498/aps.64.100202
Subject(s) - computer science , mechanism (biology) , stability (learning theory) , control theory (sociology) , lyapunov function , lyapunov stability , control (management) , control engineering , artificial intelligence , engineering , physics , nonlinear system , quantum mechanics , machine learning , philosophy , epistemology
The cohesiveness of autonomous cooperative system is the basis of achieving the effective communication and cooperation among the multiple vehicles. Therefore, the biosphere mechanism of queen mandibular pheromone is used for reference in this paper, to abstract the macro motion characteristic of multiple unmanned aerial vehicles autonomous cooperative tracking system. Then, some Lyapunov functions are constructed to analyze the stability of this system, thus obtaining its judgment criterion of stability. Finally, the simulation is given to verify the effectiveness of the proposed stable mechanism. The results show that the proposed stable mechanism not only can ensure the stability of autonomous cooperative system, but also can control the scale of this system effectively by adapting some relevant control parameters.