基于改进MPC的分布式大间距多车编队控制(下篇)  

Distributed Multi-vehicle Formation Control with Large Spacing Based on Improved MPC

作　　者：郑屹天 郭志强[1] 赵建新[1] 张宏映 ZHENG Yitian;GUO Zhiqiang;ZHAO Jianxin;ZHANG Hongying(North Automatic Control Technology Institute,Taiyuan 030006,China)

机构地区：[1]北方自动控制技术研究所,太原030006

出　　处：《火力与指挥控制》2024年第8期53-59,共7页Fire Control & Command Control

摘　　要：针对多车辆系统大间距编队控制的通信受限问题,设计一种基于局部信息的期望轨迹解算方法。根据编队通信网络拓扑求解广度优先生成树,实现拓扑分层。实时更新编队拓扑分层,进行网络拓扑单向优化,确定各节点通信级别。各节点整合邻居节点状态与队形信息,解算出通信受限下的期望轨迹。仿真实验结果验证了所提方法的有效性与可靠性。Aiming at the communication limitation problem of multi-vehicle system with large spacing formation control,a method of solving the expected trajectory based on local information is designed.Firstly,the breadth-first spanning tree is solved according to the formation communication network topology to realize the hierarchical topology.Secondly,the hierarchical topology of the formation is updated in real time,and the network topology is one-way optimized to determine the communication level of each node.Finally,each node integrates the neighbor node state and formation information to calculate the expected trajectory under the communication limitation.The effectiveness and reliability of the proposed method is verified by the simulation experiment results.

关 键 词：编队控制 通信受限 网络拓扑 拓扑分层 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]