多UAV集群固定拓扑分布式控制方法研究  

Research on topology-fixed distributed control of multi-UAV flocking

作　　者：沈东[1] 魏瑞轩[1] 黄烨[1] 宋敏[1] 胡明朗[1] 

机构地区：[1]空军工程大学工程学院,陕西西安710038

出　　处：《飞行力学》2010年第1期40-43,共4页Flight Dynamics

基　　金：国家863创新基金资助(2007AA*209)

摘　　要：通过定高飞行假设,建立了集群运行的简化空间模型、基于静止坐标系和运动坐标系的集群控制模型和分布式控制结构。将既定加速度量和势差加速度量按比例结合,控制UAV跟踪轨迹形成并保持集群状态。基于UAV模型和智能体的仿真结果表明,该模型及算法能够实现稳定的UAV固定拓扑集群行为,且具有优越的队形保持和速度控制性能。Fixed topology formation is to economize the energy enormously and enhance the velocity control capacity notably in the long distance transferring of multi-UAV flocking. A simplified space model is built up with the hypothesis of fixed height flight, and the flocking control model and distributed control structure based on the static and motion reference frame are founded. Further, a fixed acceleration and two kinds of potential-difference acceleration are combined proportionally to control UAV to track the after-calculation fixed locus and maintain the flocking state. As proved by simulation based on both UAV model multi-agents, this model and algorithm are able to form the stable fixed topology flocking behavior, and have good performance in formation maintenance and flocking velocity control.

关 键 词：集群 固定拓扑 分布式控制 轨迹跟踪 加速度 

分 类 号：V279[航空宇航科学与技术—飞行器设计]