一致性理论优化无人机集群编队控制  

Formation Control of UAV Cluster Improved by Consistency Theory

作　　者：徐珂 王建林 XU Ke;WANG Jian-lin(State Grid Shandong Electric Power Company Heze Power Supply Company,Shandong Heze 274000,China;Software College,Jilin University,Jilin Changchun 130000,China)

机构地区：[1]国网山东省电力公司菏泽供电公司,山东菏泽274000 [2]吉林大学软件学院,吉林长春130000

出　　处：《机械设计与制造》2022年第4期266-269,共4页Machinery Design & Manufacture

基　　金：广东省教育厅青年创新人才基金资助项目(2018NYGCX173)。

摘　　要：针对非线性、强耦合特性的无人机集群系统在达到期望稳态队形时速度缓慢而影响作战效率的编队控制问题,提出多智能体一致性理论优化的无人机分布式编队控制算法。算法首先基于一致性理论建立了无人机集群的二阶离散模型,并设计了模型的分布式控制协议,解决了具有非线性特性无人机集群的分布式编队问题;然后通过理论分析和推导,得到了实现期望集群编队的约束条件,最后采用经典二阶积分模型对算法模型和控制协议进行仿真,验证了模型的有效性。To solve the formation control problem forUAV cluster systems with nonlinear and strong coupling characteristics with slow speed and operational efficiency when achieving the desired steady state,a distributed formation control algorithm for UAV optimized by multi-agent consistency theory is proposed.A second-order discrete model of the drone cluster was first builts based on the consistency theory int the proposed algorithm,and the model's distributed control protocol was designed,which solves the problem of distributed formation of UAVs with Lipschitz nonlinearity.And then,through theoretical analysis and derivation,the constraint conditions for achieving the desired cluster formation were obtained.Finally,the classical second-order integration model is used to simulate the algorithm model and control protocol,which verifies the validity of the model.

关 键 词：无人机集群 非线性编队控制 多智体一致性理论 有向通信拓扑图 变量替换 

分 类 号：TH16[机械工程—机械制造及自动化] V279[航空宇航科学与技术—飞行器设计]