航空学报 > 2017, Vol. 38 Issue (S1): 721551-721551   doi: 10.7527/S1000-6893.2017.721551

均等通信时滞下多UAV协同编队控制

马培蓓1, 雷明2, 纪军1   

  1. 1. 海军航空大学 指挥系, 烟台 264001;
    2. 海军航空大学 控制工程系, 烟台 264001
  • 收稿日期:2017-05-25 修回日期:2017-07-17 出版日期:2017-11-30 发布日期:2017-07-17
  • 通讯作者: 马培蓓 E-mail:hympbok@yeah.net
  • 基金资助:

    国家自然科学基金(61305136);航空科学基金(20131384004)

Control of multi-UAV cooperative formation with equality communication time-delay

MA Peibei1, LEI Ming2, JI Jun1   

  1. 1. Department of Command, Naval Aeronautical University, Yantai 264001, China;
    2. Department of Control Engineering, Naval Aeronautical University, Yantai 264001, China
  • Received:2017-05-25 Revised:2017-07-17 Online:2017-11-30 Published:2017-07-17
  • Supported by:

    National Natural Science Foundation of China (61305136); Aeronautical Science Foundation of China (20131384004)

摘要:

多无人机(UAV)系统编队控制中,时滞是无法回避的问题,研究时滞对多UAV编队形成和系统稳定性的影响,具有重要理论价值。重点研究均等通信时滞下多UAV协同编队控制问题,并获得系统的稳定性条件。首先,设计具有均等通信时滞的协同编队控制律,得到多UAV编队系统的闭环时滞状态方程;在恒定均等时滞下,考虑到系统模型不确定性,基于线性矩阵不等式(LMI)理论得到系统的时滞依赖稳定性条件;最后,进行仿真实验,结果表明多UAV编队系统是稳定的,期望的编队队形能够形成并保持。

关键词: 无人机(UAV), 编队控制, 编队飞行, 通信, 时滞, 协同

Abstract:

Delay is an unavoidable problem in cooperative formation control of multi-UAV (Unmanned Aerial Vehicle). It is of a great practical significance to study the effects of time-delay on stability of the multi-UAV formation system. This paper focuses on control of multi-UAV cooperative formation with equality communication time-delay, and obtains the stability conditions of the system. The control law of cooperative formation with equality communication time-delay is designed, and the equation for the closed loop time-delay state of the multi-UAV formation system is obtained. Considering the uncertainty of the system model, the stability condition of the system with constant equality time-delay is obtained by Linear Matrix Inequality (LMI). The simulation results show that the multi-UAV formation system is stable, and the desired formation can be formed and maintained.

Key words: Unmanned Aerial Vehicle (UAV), formation control, formation flight, communication, time-delay, cooperation

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