基于联盟的无人机集群编队控制方法  

Formation control method of UAV cluster based on alliance

作　　者：符小卫[1,2] 魏可 李斌 高晓光 FU Xiaowei;WEI Ke;LI Bin;GAO Xiaoguang(School of Electronics and Information,Northwestern Polytechnical University,Xi’an 710129,China;Shaanxi Key Laboratory of Integrated and Intelligent Navigation,Xi’an 710068,China;The 20th Research Institute China Electronics Technology Group Corporation,Xi’an 710068,China)

机构地区：[1]西北工业大学电子信息学院,陕西西安710129 [2]陕西省组合与智能导航重点实验室,陕西西安710068 [3]中国电子科技集团公司第二十研究所,陕西西安710068

出　　处：《系统工程与电子技术》2019年第11期2559-2572,共14页Systems Engineering and Electronics

基　　金：陕西省组合与智能导航重点实验室开放基金（SKLIIN-20180104）资助项目

摘　　要：针对切换拓扑结构下的集群编队控制问题,设计只需个别无人机获取虚拟长机信息也能保证集群连通性的编队控制算法。当队形变换或部分通讯网络故障导致网络拓扑结构发生改变时,以距离为原则对集群进行联盟划分,各联盟内部成员以信息浓度大小为标准同其他成员进行竞争,由信息浓度最大的无人机获取虚拟长机信息,其联盟成员通过与该无人机通讯间接获取虚拟长机信息。该算法使得每架无人机在任意时刻都能直接或间接地获取虚拟长机信息。引入集群对虚拟长机的反馈机制,与传统反馈算法不同的是,本文中反馈无人机的数量和组成成员都是变化的,从而提高了系统的收敛速度和鲁棒性。在此基础上进一步讨论编队的损伤问题,设计了一种基于分层的分布式递归自修复算法,解决了网络分裂状态下的自修复及修复后队形变化过大的问题。仿真结果表明了所建模型的合理性和求解方法的有效性。Aiming at the control problem of cluster formation under switching topology,the formation control algorithm which can ensure cluster connectivity is designed by only acquiring virtual leader information of an individual unmanned aerial vehicle (UAV).When the network topology is changed due to formation transformation or part of communication network failure,the cluster is divided into alliances based on the principle of distance.Members of each alliance compete with other members on the basis of information concentration,and the UAV of the highest information concentration obtains the virtual leader information.Other alliance members obtain information about the virtual leader indirectly through communication with the UAV.The algorithm allows each UAV to acquire the virtual leader information directly or indirectly at any time.Moreover,the feedback mechanism of the cluster to the virtual leader is introduced.Different from the traditional feedback algorithm,the number and composition members of the feedback UAV are changed,which improves the convergence speed and robustness of the system.On this basis,the damage problem of formation is further discussed.A distributed recursive self-repair algorithm based on layering is designed to solve the problem,which solves the problem of self-repair in the split state of the network and the excessive formation change after repair.The simulation results show the rationality of the model and the validity of the solution method.

关 键 词：集群 联盟 反馈机制 自修复 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V279