受物理安全感知约束的群系统协同编队

对于无人机群、舰艇群等实际物理群系统，物理安全与协同编队是影响自主运行的重要因素。在复杂运行环境下，成员良好的物理安全是实现群系统协同编队的前提，但物理安全的下降有可能严重影响协同编队的实现。本项目从设备剩余使用寿命这一表征成员物理安全的基本属性出发，研究受物理安全感知约束的群系统协同编队。首先，在具有隐含退化过程的动态系统的框架下，研究成员设备间歇故障的诊断问题，提出严格理论意义下的间歇故障诊断方法；进一步，在间歇故障发生次数影响设备性能退化的前提下，研究成员设备剩余使用寿命的预测问题，并将剩余使用寿命作为评价成员物理安全的主要指标；最后，在设备剩余使用寿命分布函数的约束下，研究随机意义下有限时间内的协同编队问题，并综合考虑维护费用、控制成本对协同编队的影响。本项目致力于取得实际物理属性驱动的理论研究成果，并在旋翼无人机群实验平台上进行验证，从而为实际物理群系统的自主运行提供理论基础。

Operational safety and coordinated formation are two main factors affecting the autonomous operation of swarm systems such as the unmanned aerial vehicle swarm and the naval ship swarm et al. Within complex operating environments, physical equipments with high physical safety is necessary for ensuring the coordinated formation of physical swarms. However, the seriously decreasing of physical safety of equipments strongly affects the possibility of formation in swarms. From the remaining useful lifetime representing the physical safety of systems, the project will study the coordinated formation with the constraint of physical safety sensing. To begin with, within the framework of dynamical systems with hidden degradation process, the diagnosis of intermittent faults in physical equipments is studied in a strictly theoretical way. Then, provided that the degradation process is affected by the number of times intermittent faults occur, the remaining useful lifetime can be one main index representing the physical safety of physical systems. At last, constrained by anticipated performance of the probability density function on remaining useful lifetime, the problem of finite-time coordinated formation in swarms is considered in a stochastic sense. We also study the effects of the costs of control and maintenance on coordinated formation. In this project, we try to obtain theoretical results driven by realistic physical properties such as remaining useful lifetime, and verify the effectiveness using the UAV rotorcraft swarm. The main research can provide a theoretical foundation for the autonomous operation of physical swarm systems.