切换拓扑下无人机集群系统时变编队控制

doi:10.7527/S1000-6893.2016.0219

电子电气工程与控制

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切换拓扑下无人机集群系统时变编队控制

周绍磊, 祁亚辉, 张雷, 闫实, 康宇航

海军航空工程学院控制工程系, 烟台 264001

收稿日期:2016-05-19 修回日期:2016-07-18 出版日期:2017-04-15 发布日期:2016-07-22
通讯作者: 周绍磊 E-mail:zhouslsd@sina.com

Time-varying formation control of UAV swarm systems with switching topologies

ZHOU Shaolei, QI Yahui, ZHANG Lei, YAN Shi, KANG Yuhang

Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China

Received:2016-05-19 Revised:2016-07-18 Online:2017-04-15 Published:2016-07-22

摘要/Abstract

摘要：

针对多无人机（UAV）间通信拓扑可能发生变化的情况，研究了具有二阶积分特性的无人机集群系统的轨迹跟踪与时变编队控制问题。基于一致性方法设计了编队控制器，将编队控制问题转换成闭环系统的稳定性问题，引入了切换拓扑平均驻留时间的概念，并在此基础上利用线性矩阵不等式（LMI）方法，给出了控制器设计步骤。通过构造分段连续Lyapunov函数，证明了切换拓扑下无人机集群系统能够实现对指定轨迹的跟踪并且实现时变编队飞行。以三维空间运动的无人机集群系统为例进行了仿真验证，结果表明本文所提方法能够解决切换拓扑下无人机集群系统的轨迹跟踪与时变编队问题。

关键词: 无人机, 集群系统, 切换拓扑, 一致性, 编队控制, 轨迹跟踪

Abstract:

Trajectory tracking and time-varying formation control of unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are investigated. The UAV is modelled by a second-order integrator system. Based on the consensus method, protocols are proposed to transform the formation problem into a stability problem. The average dwell time of switching topologies is introduced, and an algorithm for the design of the gain matrix of the protocol is given by solving a linear matrix inequality (LMI). It is proven by constructing a piecewise continuous Lyapunov function that the trajectory tracking and time-varying formation can be achieved by the protocol proposed. Simulation of a swarm system consisting of four UAVs moving in the three dimensional space is conducted, and simulation results demonstrate that the trajectory tracking and time-varying formation for UAVs with switching topologies can be solved by the method proposed.

Key words: unmanned aerial vehicle, swarm system, switching topology, consensus, formation control, trajectory tracking

中图分类号:

V249.122

周绍磊, 祁亚辉, 张雷, 闫实, 康宇航. 切换拓扑下无人机集群系统时变编队控制[J]. 航空学报, 2017, 38(4): 320452-320452.

ZHOU Shaolei, QI Yahui, ZHANG Lei, YAN Shi, KANG Yuhang. Time-varying formation control of UAV swarm systems with switching topologies[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(4): 320452-320452.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

切换拓扑下无人机集群系统时变编队控制

Time-varying formation control of UAV swarm systems with switching topologies

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