有界变化时滞和联合连通拓扑条件下的分布式无人机编队飞行控制策略

doi:10.3969/j.issn.1000-1093.2019.06.008

兵工学报 ›› 2019, Vol. 40 ›› Issue (6): 1179-1189.doi: 10.3969/j.issn.1000-1093.2019.06.008

有界变化时滞和联合连通拓扑条件下的分布式无人机编队飞行控制策略

李小民¹，毛琼²，甘勤涛²，杜占龙³

（1.石家庄铁道大学电气与电子工程学院，河北石家庄 050043；2.陆军工程大学石家庄校区无人机工程系，河北石家庄 050003；3.63850部队总体研究所，吉林白城 137001）

收稿日期:2018-06-29 修回日期:2018-06-29 上线日期:2019-08-14
通讯作者: 毛琼(1982—)，女，讲师，博士研究生 E-mail:xu_000321@aliyun.com
作者简介:李小民(1968—)，男，教授，博士生导师。 E-mail: lxmfy2000@263.net
基金资助:
国家自然科学基金项目（61305076）

Flight Control Strategy for Distributed UAV Formation under the Conditions of Bounded Time-varying Delay andJointly-connected Topology

LI Xiaomin¹， MAO Qiong²， GAN Qintao²， DU Zhanlong³

(1.School of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, Hebei, China;2.Department of UAV Engineering, Shijiazhuang Campus, Army Engineering University, Shijiazhuang 050003, Hebei, China;3.Overall Institute, Unit 63850 of PLA, Baicheng 137001, Jilin China)

Received:2018-06-29 Revised:2018-06-29 Online:2019-08-14

摘要/Abstract

摘要： 针对具有非线性动力学特性的多无人机系统通信时滞在有界区间内变化和网络拓扑联合连通情况下的编队控制问题，提出一种基于一致性理论的分布式编队控制策略。利用Lyapunov-Krasovskii函数分析编队的稳定性，推导编队稳定的充分条件。该策略不强调时滞的导数特征，并且可将通信拓扑的高维矩阵求解问题转化为若干个连通部分的低维矩阵求解问题，因此适用性广、计算量小、实时性好。通过仿真验证了非线性快变时滞和随机跳变时滞情况下策略的有效性。结果表明，该方法可指导无人机编队快速聚集和收敛至任意对称或非对称目标队形和以目标速度保持飞行。

关键词: 无人机编队, 时变时滞, 切换拓扑, 编队控制

Abstract: A consistency theory-based distributed formation control strategy is proposed for the multi-UAVs with nonlinear dynamic characteristics, in which the communication delay is changed in bounded interval and the network topology is jointly-connected. The Lyapunov-Krasovskii function is used to analyze the formation stability and deduce its sufficient conditions. The derivative characteristic of time-delay is not considered, and the high dimensional matrix solution of communication topology is transformed into low dimensional matrix solution with several connected parts. The proposed strategy has the advantages of wide applicability, low computational cost and excellent real-time performance. The effectivity of the proposed method in the cases of nonlinear fast-varying and random hopping delays was verified through simulation experiment. Experimental results show that the proposed strategy can be used to direct the multi-UAVs to assemble and converge to any symmetric or asymmetric target formation with scheduled speed. Key

Key words: UAVformation, time-varyingdelay, switchingtopology, formationcontrol

中图分类号:

V249.122⁺.3

李小民，毛琼，甘勤涛，杜占龙. 有界变化时滞和联合连通拓扑条件下的分布式无人机编队飞行控制策略[J]. 兵工学报, 2019, 40(6): 1179-1189.

LI Xiaomin， MAO Qiong， GAN Qintao， DU Zhanlong. Flight Control Strategy for Distributed UAV Formation under the Conditions of Bounded Time-varying Delay andJointly-connected Topology[J]. Acta Armamentarii, 2019, 40(6): 1179-1189.

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有界变化时滞和联合连通拓扑条件下的分布式无人机编队飞行控制策略

Flight Control Strategy for Distributed UAV Formation under the Conditions of Bounded Time-varying Delay andJointly-connected Topology

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