无人机集群牵制控制系统特征值分析  

Eigenvalue analysis of the pinning control system of unmanned aerial vehicle swarm

作　　者：刘锦涛 何明 罗玲 柳强 禹明刚 LIU Jintao;HE Ming;LUO Ling;LIU Qiang;YU Minggang(Command and Control Engineering College, Army Engineering University of the PLA, Nanjing 210007, China)

机构地区：[1]陆军工程大学指挥控制工程学院,江苏南京210007

出　　处：《系统工程与电子技术》2022年第2期612-618,共7页Systems Engineering and Electronics

基　　金：国家重点研发计划(2018YFC0806900);中国博士后科学基金(2019M663972);江苏省重点研发计划(BE2016904,BE2017616,BE2018754,BE2019762);江苏省博士后科学基金(2019K185)资助课题。

摘　　要：本文研究施加牵制控制对无人机(unmanned aerial vehicle,UAV)集群蜂拥控制一致性的影响。首先基于复杂网络和图论建立了UAV集群的二阶动力学模型;其次设计了分布式控制协议并构建了集群系统的增广Laplacian矩阵,其最小特征值反映了集群的一致性收敛速度,以及连通性与鲁棒性;最后分析了增加牵制点对系统动态性能的影响,并基于M矩阵等相关性质得到最小特征值的范围。本文为牵制控制设计及性能分析提供了理论依据。This paper studies the effect of pinning control on the consensus of unmanned aerial vehicle(UAV)swarm.Firstly,the second-order dynamics model of UAV swarm is established based on complex network and graph theory.Secondly,the distributed control protocol is designed and the augmented Laplacian matrix of the swarm system is constructed.The minimum eigenvalue of the augmented Laplacian matrix reflects the uniform convergence rate,connectivity and robustness of the swarm system.Finally,the influence by adding pinning points on the dynamic performance of the system is analyzed,and the scope of the minimum eigenvalue is obtained based by the properties of M matrix.This paper provides the theoretical basis for the design and performance analysis for the pinning control.

关 键 词：牵制控制 LAPLACE矩阵 矩阵特征值 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]