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兵工学报 ›› 2019, Vol. 40 ›› Issue (5): 996-1002.doi: 10.3969/j.issn.1000-1093.2019.05.012

• 论文 • 上一篇    下一篇

切换通信拓扑条件下的无人机集群构型变换控制

刘流1, 梁晓龙1,2, 张佳强1,3, 何吕龙1, 侯岳奇1   

  1. (1.空军工程大学 空管领航学院, 陕西 西安 710051; 2.陕西省电子信息系统综合集成重点实验室, 陕西 西安 710051;3.国家空管防相撞技术重点实验室, 陕西 西安 710051)
  • 收稿日期:2018-06-07 修回日期:2018-06-07 上线日期:2019-07-26
  • 通讯作者: 梁晓龙(1981—), 男, 教授, 硕士生导师 E-mail:afeu_lxl@sina.com
  • 作者简介:刘流(1992—), 男, 硕士研究生。E-mail: afeu_ll@163.com
  • 基金资助:
    国家自然科学基金项目(61472443、61703427); 陕西省自然科学基金项目(2017JQ6035)

UAV Swarm Formation Reconfiguration Control with Switching Interaction Topologies

LIU Liu1, LIANG Xiaolong1,2, ZHANG Jiaqiang1,3, HE Lülong1, HOU Yueqi1   

  1. (1.Air Traffic Control and Navigation College, Air Force Engineering University, Xi'an 710051, Shaanxi, China;2.Shaanxi Province Laboratory of Meta-synthesis for Electronic & Information System, Xi'an 710051, Shaanxi, China;3.National Key Laboratory of Air Traffic Collision Prevention, Xi'an 710051, Shaanxi, China)
  • Received:2018-06-07 Revised:2018-06-07 Online:2019-07-26

摘要: 研究了在切换通信拓扑条件下的无人机集群构型变换控制问题。基于一致性控制理论,对具有2阶积分特性的无人机集群设计了构型变换控制协议,为使无人机集群能够实现特定构型变换并保持特定速度,在控制协议中引入编队参考向量。给出了在通信拓扑切换情况下无人机集群实现特定构型变换并保持特定速度的充分必要条件。在通信拓扑图保持连通的条件下,利用Lyapunov稳定性理论证明了无人机集群系统稳定性,并利用代数黎卡提方程理论给出了控制协议中参数矩阵的设计方法。数值仿真结果验证了所设计的控制协议有效性。

关键词: 无人机, 集群系统, 切换通信拓扑, 构型变换, 控制协议

Abstract: Unmanned aerial vehicle (UAV) swarm formation reconfiguration control with switching interaction topologies is investigated. The UAV swarm formation reconfiguration control law is designed based on the consensus theory. In order to make the UAV swarm form a specified formation configuration, the formation reference vector is introduced. The necessary and sufficient conditions for UAV swarm with switching interaction topologies achieving a predefined formation configuration are proposed. Under the condition that the interaction topologies are connected, the UAV swarm system is proved to be asymptotically stable based on the Lyapunov theory, and an approach to design the parameter matrix in the control protocol is proposed based on the algebraic Riccati equation. Numerically simulated results illustrate the efficiency of proposed control protocol. Key

Key words: unmannedaerialvehicle, swarmsystem, switchinginteractiontopology, formationreconfiguration, controlprotocol

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