无人机集群系统的运动同步稳定控制机理研究  

Study on Motion Syschronization Stability Control Mechanism of Unmanned Aerial Vehicle Swarm System

作　　者：黄汉桥[1,2,3] 周欢[1] 王勇[1] 张蓬[2] 赵鑫[1] Huang Hanqiao Zhou Huan Wang Yong Zhang Peng Zhao Xin(Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi＇an 710038, China Northwestern Polytechnical University, Xi＇an 710072, China Science and Technology on Electro-Optic Control Laboratory, Luoyang 471009, China)

机构地区：[1]空军工程大学航空航天工程学院,陕西西安710038 [2]西北工业大学,陕西西安710072 [3]光电控制技术重点实验室,河南洛阳471009

出　　处：《西北工业大学学报》2016年第6期929-937,共9页Journal of Northwestern Polytechnical University

基　　金：航空科学基金(20155196022);国家自然科学基金(61601505;71501184);陕西省自然科学基金(2016JQ6050)资助

摘　　要：为保证无人机集群执行任务的可靠性和飞行安全,将集群视为具有弱连通和有向加权网络的多智能体系统,研究其运动同步稳定控制问题。首先在一致性理论的基础上提出运动同步的概念,采用反馈线性化设计具有内外回路的分布式运动同步控制机制,根据矩阵理论和Lyapunov定理分析系统的稳定性,进而得到该系统的稳定性判据。仿真结果表明:所设计的稳定控制机制不仅能够依照期望的网络拓扑实现多智能体的精确运动同步,还能够确保系统的稳定性。In recent years,with the growing development of artificial intelligence technology,multiple unmanned aerial vehicles（ UAVs）,especially the UAV swarm,have been widely used in military and civilized fields. In order to ensure the flight safety and reliability of completing tasks,the motion syschronization control problem is researched in this paper by viewing the UAV swarm as a multi-agent system with the directed-weighted and weakly connected dynamic network. The concept of the motion syschronization is defined based on the consistency. Then,the distributed control mechanism with double loops is designed by using the feedback linearization method. The stability of the control mechanism is analyzed based on the Lyapunov and matrix theorem,thus obtaining its judgment criterion of stability. Finally,a simulation example is given to verify the effectiveness of the control mechanism. The results show that the proposed control mechanism can not only realize precious motion syschronization according to expected network topology,but also ensure the stability of the multi-agent system.

关 键 词：多智能体 运动同步 无人机 集群 稳定控制 控制系统稳定性 反馈线性化 智能计算 线性矩阵不等式 李雅普诺夫函数 时间延迟 

分 类 号：V249[航空宇航科学与技术—飞行器设计]