时变通信时延下的多无人机系统编队追踪控制  

Formation tracking control of the multi-UAV system with time-varying communication delay

作　　者：钱贝 周绍磊 肖支才 闫实 祁亚辉 许强[2] QIAN Bei;ZHOU Shaolei;XIAO Zhicai;YAN Shi;QI Yahui;XU Qiang(Naval Aviation University,Yantai 264000,China;Unit 91184 of the Chinese People’s Liberation Army,Qingdao 266000,China)

机构地区：[1]海军航空大学,山东烟台264000 [2]中国人民解放军91184部队,山东青岛266000

出　　处：《兵器装备工程学报》2023年第6期223-231,共9页Journal of Ordnance Equipment Engineering

基　　金：山东省自然科学基金青年项目(ZR2020QF057)。

摘　　要：针对存在时变通信时延的情形,研究了多无人机系统的编队追踪控制问题,使得系统中的领导者能够追踪期望轨迹,跟随者能够追踪领导者轨迹并形成期望编队。对系统中的无人机建立其动力学模型,对于所描述的情形作出一些基本假设和说明。基于一致性理论对领导者和跟随者设计相应的控制器,通过变量代换和数学变形,将原系统的编队追踪控制问题变为低阶系统的渐近稳定问题。设计合适的Lyapunov-Krasovskii函数,运用线性矩阵不等式的相关定理,推导出新系统渐近稳定的充分条件。在Matlab环境中对系统进行飞行仿真实验,实验结果表明:在满足所给条件时,系统在时变通信时延条件下能够实现编队追踪控制。Aiming at time-varying communication delay,this paper studies formation tracking control of the multi-UAV system so that the leader in the system can track the desired trajectory with followers tracking the leader’s trajectory and thus form the desired formation.A dynamic model of the UAV in the system is established,and some basic assumptions and explanations are made for the described situation.Based on the consistency theory,corresponding controllers are designed for the leader and the followers,and,through variable substitution and mathematical deformation,the formation tracking control in the original system is transformed into an asymptotic stability problem of a low-order system.A suitable Lyapunov-Krasovskii function is designed,and the sufficient conditions for the asymptotic stability of the new system are deduced by using the related theorem of linear matrix inequalities.A flight simulation experiment for the system is carried out in the matlab environment,and the results show that the system can realize the formation tracking control under the condition of time-varying communication delay when the given conditions are satisfied.

关 键 词：时变通信时延 编队追踪控制 领导者 跟随者 一致性 线性矩阵不等式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V249[自动化与计算机技术—控制科学与工程]