基于领导跟随一致性理论的队形保持策略  

Multiple UVAs Formation Keeping Based on Leader-following Consensus Protocol

作　　者：胡朝晖 李聪 王勇[2] 周欢[2] 王骁飞 HU Zhao-hui;LI Cong;WANG Yong;ZHOU Huan;WANG Xiao-fei(School of Mechanical Engineering,Xijing University,Xi’an 710123,China;School of Astronautics Engineering,Air Force Engineering University,Xi’an 710038,China)

机构地区：[1]西京学院机械工程学院,西安710123 [2]空军工程大学航空工程学院,西安710038

出　　处：《火力与指挥控制》2019年第5期61-65,69,共6页Fire Control & Command Control

基　　金：国家自然科学基金(61601505);航空科学基金资助项目(20155196022)

摘　　要：针对多无人机编队飞行过程中的队形保持问题,提出了二阶非线性切换拓扑结构下的领导跟随一致性控制协议。利用构建的利亚普诺夫函数和线性矩阵不等式给出了判据及相应的稳定性证明。仿真结果表明利用所设计的领导跟随一致性控制协议,可有效实现多无人机在相同速度下保持期望的队形协同飞行。To solve the problem of multiple UAVs formation keeping,a kind of leader-following consensus protocol for second-order nonlinear dynamics is put formard under switching topology. Furthermore, the criterion and corresponding stability proof are given by constructing suitable Lyapunov function and linear matrix inequation. The simulation results show that multiple UAVs can achieve the desired formation configuration at the same velocity based on the designed leader-following consensus protocol.

关 键 词：多无人机编队 领导跟随一致性协议 切换拓扑 非线性模型 

分 类 号：V249[航空宇航科学与技术—飞行器设计] TJ01[兵器科学与技术—兵器发射理论与技术]