电子电气工程与控制

均等通信时滞下多UAV协同编队控制

  • 马培蓓 ,
  • 雷明 ,
  • 纪军
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  • 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

  网络出版日期: 2017-07-17

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 Peibei ,
  • LEI Ming ,
  • JI Jun
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  • 1. Department of Command, Naval Aeronautical University, Yantai 264001, China;
    2. Department of Control Engineering, Naval Aeronautical University, Yantai 264001, China

Received date: 2017-05-25

  Revised date: 2017-07-17

  Online 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。

本文引用格式

马培蓓 , 雷明 , 纪军 . 均等通信时滞下多UAV协同编队控制[J]. 航空学报, 2017 , 38(S1) : 721551 -721551 . DOI: 10.7527/S1000-6893.2017.721551

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.

参考文献

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