Variational method-based distributed optimal guidance laws for multi-attackers’ simultaneous attack

To solve the problem of cooperative encirclement and simultaneous attack of multiple unmanned aerial vehicles, variational method and Hamiltonian optimization are utilized to design an optimal attack trajectory of multiple attackers pursuing a single target that has fixed initial relative state, fixed final relative state and fixed duration of the attack under condition that the acceleration of the target being estimable. When terminal relative state and attack duration are unknown, online calculation algorithm is used to compute a chain of key intermediate points to create the guidance law and ensure successful deliverance of multiple attackers’ simultaneous attack of the target. The only requirement for the multi-attacker communication network is that it contains a directed spanning tree. The guidance laws can function properly as long as one or more attacker can observe the target. The novel guidance laws practicability are verified by simulation results.

Feedback control based on discrete-time state observations for stabilization of coupled regime-switching jump diffusion with Markov switching topologies

In this paper, the stabilization of coupled regime-switching jump diffusion with Markov switching topologies (CRJDM) is discussed. Particularly, we remove the restrictions that each of the switching subnetwork topologies is strongly connected or contains a directed spanning tree. Furthermore, a feedback control based on discrete-time state observations is proposed to make the CRJDM asymptotically stable. In most existing literature, feedback control only depends on discrete-time observations of state processes, while switching processes are observed continuously. Different from previous literature, feedback control depends on discrete-time observations of state processes as well as switching processes in this paper. Meanwhile, based on graph theory, stationary distribution of switching processes and Lyapunov method, some sufficient conditions are deduced to ensure the asymptotic stability of CRJDM. By applying the theoretical results to second-order oscillators with Markov switching topologies, a stability criterion is obtained. Finally, the effectiveness of the results is illustrated by a numerical example.

Design of distributed guidance laws for multiple unmanned aerial vehicles cooperative attack of a moving target based on reducing surrounding area

Based on minimizing the enclosed area around the target of multi-attackers, two novel guidance laws are created to address the issue of cooperative encirclement and simultaneous attack. The only requirement for the multi-attacker communication network is that it should contain a directed spanning tree, and does not require all attackers to observe the target information, where at least one can observe the target. To reduce the remaining relative distances between the target and attackers simultaneously, and to make the overload in direction perpendicular to the line of sight converge to zero, the multiple-attackers-single-target problem is effectively solved and can avoid collisions among attackers as well as difficulties in estimation of remaining time. Simulation results confirmed the effectiveness of the proposed guidance laws.

Pull-Based Distributed Event-Triggered Circle Formation Control for Multi-Agent Systems with Directed Topologies

This paper investigates a circle formation control problem for multi-agent systems with directed topologies via pull-based distributed event-triggered control principles. Firstly, for scenarios of continuous communication, a pull-based distributed event-triggered principle is proposed. It is proved that if the communication topology is irreducible and has a directed spanning tree, the event-triggered coupling continuous communication can lead multiple agents to form a desired circle formation. Then, the results are extended to discontinuous communication scenarios, where all the agents use a model of their neighborhoods to generate self-triggered instants without monitoring continuously, update the local controller here, and if necessary, local broadcast information based on the adopted control inputs to neighboring agents. In addition, Zeno behavior can be excluded during the whole process. Finally, numerical simulation results are given to demonstrate the effectiveness of the proposed circle formation control methods.