基于方位测量的固定时间多目标定位和环航控制  

On fixed-time multi-target localization and circumnavigation control using bearing measurements

作　　者：胡江平[1,2] 周子粲 陈波 HU Jiang-ping;ZHOU Zi-can;CHEN Bo(School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China;Yangtze Delta Region Institute(Huzhou),University of Electronic Science and Technology of China,Huzhou313001,China)

机构地区：[1]电子科技大学自动化工程学院,成都611731 [2]电子科技大学长三角研究院(湖州),浙江湖州313001

出　　处：《吉林大学学报（工学版）》2023年第3期923-932,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(62103341,61473061)。

摘　　要：针对多无人机系统对多静态目标的环航控制问题,提出了一种基于方位测量的目标定位和环航控制算法,以确保系统能在固定时间内实现对目标的定位和环航包围。首先,为领航者无人机设计了基于方位测量的目标定位算法以计算目标位置,并为跟随者无人机设计了状态观测器以估计目标中心和领航者位置。然后,对多无人机系统设计了分布式环航控制算法,使多无人机系统实现对多目标物的均匀分布环航。最后,数值仿真实验验证了本文控制算法的有效性。For circumnavigation control of a multi-UAV system with multiple static targets was proposed bearing measurement based target localization and circumnavigation control algorithms to ensure that the multi-UAV system can realize the target localization and circumnavigation in fixed time.First,A bearing measurement based fixed-time target localization algorithm was designed for the leader-UAV to compute the position of each target,and a fixed-time observer was proposed for each follower-UAV to estimate the targets' center and the position of the leader-UAV.Then,a distributed fixed-time circumnavigation control algorithm was designed for the multi-UAV system to ensure the system realize a uniformly distributed circumnavigation of the multiple targets.Finally,numerical simulation experiment verifies the effectiveness of the proposed circumnavigation control algorithm.

关 键 词：多无人机编队 固定时间控制 分布式估计和定位 环航控制 方位测量 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP18[自动化与计算机技术—控制科学与工程]