多无人机编队航行方向集中优化控制研究  

Formation Control of Unmanned Aerial Vehicles in Moving Direction

作　　者：周绍磊[1] 祁亚辉[1] 康宇航[1] 闫实[1] 

机构地区：[1]海军航空工程学院控制工程系,山东烟台264001

出　　处：《计算机仿真》2017年第5期92-95,107,共5页Computer Simulation

摘　　要：对多无人机编队航行方向集中优化控制进行了研究,解决无人机间最少信息交互时的控制器设计问题。针对编队中存在无人机无法直接获取leader信息,只能依靠邻居无人机进行编队飞行的情况,设计了一致性的编队控制器,利用图论方法对通信拓扑进行建模,通过对图的Laplacian矩阵特定形式的分解和变量代换,将多无人机系统的编队问题转化成整体系统的稳定性问题。得到了基于较低维度线性矩阵不等式条件的控制参数设计方法,对控制器进行了仿真验证,结果表明本文所提控制方法只需多无人机间通信拓扑包含一条有向生成树,就能够使多无人机系统的形成编队并且整体航向方向趋于一致。Formation control for Unmanned Aerial Vehicle （UAV） systems in moving direction is investigated, with least relative neighbor UAV information. A protocol was proposed using consensus method, in which the graph theory is used to model the communication topology. The formation problem was finally transferred into a stablization problem based on decomposition of Laplaeian matrix and variable transformation. A method of designing the control gain matrix was presented by sovling a linear matrix inequality. The theoretical results are validated by numerical sim- ulations that the UAVs under directed communication topology with at least one directed spanning tree can achieve formation in moving direction.

关 键 词：无人机 编队 一致性 有向图 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP13[自动化与计算机技术—控制理论与控制工程]