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;毛琼;甘勤涛;杜占龙

兵工学报 ›› 2019, Vol. 40 ›› Issue (6) : 1179-1189.

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  • 主管：中国科学技术协会

    主编：许毅达

    ISSN 1000-1093

    　

  • 主办：中国兵工学会

    出版：《兵工学报》 编辑部

    CN 11-2176/TJ

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

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
作者信息 +

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
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文章历史 +

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。

Abstract

A consistency theory-based distributed formation control strategy is proposed for the multi-UAVswith 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

关键词

无人机编队 / 时变时滞 / 切换拓扑 / 编队控制

Key words

UAVformation / time-varyingdelay / switchingtopology / formationcontrol

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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. 兵工学报. 2019, 40(6): 1179-1189 https://doi.org/10.3969/j.issn.1000-1093.2019.06.008
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. Acta Armamentarii. 2019, 40(6): 1179-1189 https://doi.org/10.3969/j.issn.1000-1093.2019.06.008

基金

国家自然科学基金项目（61305076）

参考文献



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第40卷第6期
2019年6月兵工学报ACTA
ARMAMENTARIIVol.40No.6Jun.2019

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