均等通信时滞下多UAV协同编队控制

doi:10.7527/S1000-6893.2017.721551

Abstract

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

CLC Number:

V279
TP391

MA Peibei, LEI Ming, JI Jun. Control of multi-UAV cooperative formation with equality communication time-delay[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(S1): 721551-721551.

References

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

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