基于一致性的多无人机协同编队设计  

Multi-UAV Cooperative Formation Design Based on Consensus

作　　者：马培蓓[1] 雷明[2] 纪军[1] 

机构地区：[1]海军航空工程学院指挥系,烟台264001 [2]海军航空工程学院控制工程系,烟台264001

出　　处：《战术导弹技术》2017年第2期86-90,共5页Tactical Missile Technology

基　　金：国家自然科学基金(61305136);航空科学基金(20131384004)

摘　　要：考虑到编队队形和速度变化的实际情况,以二阶模型为研究对象,采用基于一致性算法研究多UAV的协同编队控制问题。首先,定量描述编队问题,定义与编队队形一一对应的编队向量;其次,研究遇到障碍时的UAV编队变形与变换问题;在经典一致性算法的基础上,引入编队队形和速度控制项,设计UAV个体的一致性编队控制律;最后,研究系统的稳定性和编队的收敛性问题,通过仿真分析验证编队能够形成并保持期望的编队队形和编队速度,且编队的变换不影响编队系统的稳定性和收敛性。Considering the actual situation of the formation and the change of speed, the collaborative for- mation control problem of muhi-UAV is studied by the consensus algorithm based on the two order model. Firstly, the problem of formation is descripted quantitativly, and the formation of the corresponding vector is definited. Secondly, the formation deformation and transformation of UAV in the face of obstacles are studied. Based on the classical consistency algorithm, introducing the formation and speed control, multi- UAV cooperative formation control based consensus is designed. At last, the stability of the system and the convergence of formation are studied. The simulation results show that the formation can form and maintain the desired formation and formation velocity, and the transformation of formation does not affect the stability and convergence of the formation system.

关 键 词：多无人机 一致性 协同编队 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]