【摘要】 针对多智能体协同对峙跟踪非合作目标问题，提出了一种基于离散时间纯方位量测信息的估计与控制相结合的系统框架。相比于现有连续时间观测器与控制器的耦合架构，该方法避免了在实际应用时连续时间系统离散化步骤和由此可能引发的系统失稳风险。首先，针对含噪声方位观测下的目标状态估计问题，引入无偏伪线性卡尔曼滤波(UBPLKF)，实现了对目标状态的无偏估计，规避了现有连续时间观测器对噪声的敏感性缺陷。随后，结合估计结果与控制目标，采用运动学解耦的方式设计分布式离散时间控制器，简化了控制器的设计与实现，提升了工程适用性，实现了多智能体按预定对峙半径、环绕角速度和角度空间队形跟踪目标。同时，基于Lyapunov稳定性理论推导出保证系统稳定的采样周期、系统通信拓扑的Laplacian矩阵与控制增益的显式约束条件，该约束条件从理论上界定了控制器参数的可行域。更多还原

【Abstract】 Aiming at the problem of cooperative standoff tracking of a non-cooperative target by a multi-agent system,a systematic framework that integrates estimator and controller based on discretetime bearing-only measurements is proposed. Compared to existing coupled architectures of continuous-time observers and controllers,the proposed method eliminates the need for discretizing continuous-time systems in practical implementations,thereby avoiding the potential risk of system instability arising from this process. First,to address target state estimation under noisy bearing measurements,an unbiased pseudo-linear Kalman filter( UBPLKF) is introduced,achieving unbiased estimation of target states and overcoming the defect of noise sensitivity inherent in continuous-time observers. Subsequently,leveraging the estimates and control objectives,a distributed discrete-time controller is designed through kinematic decoupling. This design simplifies controller implementation and enhances its engineering applicability. The controller enables multiple-agents to track and circumnavigate the target while maintaining the prescribed standoff distance,angular velocity,and angular space distribution. Furthermore,based on Lyapunov stability theory,constraints between the sampling period,the Laplacian matrix of the communication topology,and the control gains are derived to ensure system stability. These constraints theoretically delimit the feasible range of controller parameters.更多还原