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

Abstract

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

CLC Number:

V249.122

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

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