基于事件触发的多无人机群快速编队控制  

Fast Formation Control of Multi UAV Group Based on Event Triggering

作　　者：庄亚楠 苗国英[1] 孙英博 ZHUANG Yanan;MIAO Guoying;SUN Yingbo(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China)

机构地区：[1]南京信息工程大学自动化学院,南京210044

出　　处：《电子信息对抗技术》2022年第6期48-53,共6页Electronic Information Warfare Technology

基　　金：国家自然科学基金项目(62073169);江苏省“333工程”项目(BRA2020067)。

摘　　要：在有向拓扑结构下,针对无人机之间存在通信噪声干扰,研究了基于事件触发的多无人机群快速编队控制。为了节约无人机的能量和通信成本,运用事件触发方法,使无人机间仅在触发时刻进行通信。为了加快多无人机系统的编队速度,利用无人机自身历史时刻的信息及其含有通信噪声的邻居无人机的历史时刻信息,设计了分布式快速编队控制输入。利用李雅普诺夫稳定性定理和图论知识等,证明了多无人机系统可以在给定触发条件下快速形成稳定的期望编队。将算法应用到四旋翼无人机系统中,通过仿真验证了文中理论结果的有效性。Under the directed topology,aiming at the communication noise interference between unmanned aerial vehicles(UAVs),the fast formation control of multi UAV group based on event trigger is studied.In order to save the energy and communication cost,event triggering method is used to make UAV communicate only at the trigger time.By way of speeding up the formation convergence of multi UAV systems,using the historical time information of UAV and its neighbour with communication noise,a distributed fast formation control protocol is designed.It is proved that the multi UAV system can quickly derive a stable expected formation under given trigger conditions by using Lyapunov stability theorem and graph theory.The algorithm is applied to the four rotor UAV system,and the simulation results verify the effectiveness of the theoretical results.

关 键 词：多智能体系统 分布式控制 噪声干扰 快速编队 事件触发 四旋翼无人机 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]