有向通信拓扑下的无人集群分布式编队控制  

Distributed Formation Control of Unmanned Swarms Under Directed Communication Topology

作　　者：王宁[1,2] 梁晓龙 李哲[1,2] 郑傲宇 王菡[1,2] WANG Ning;LIANG Xiaolong;LI Zhe;ZHENG Aoyu;WANG Han(Air traffic control and navigation school,Air Force Engineering University,Xi an 710051,China;Shaanxi Province Lab.of Meta-synthesis for Electronic&Information System,Air Force Engineering University,Xi an 710051,China)

机构地区：[1]空军工程大学空管领航学院,西安710051 [2]陕西省电子信息系统综合集成重点实验室,西安710051

出　　处：《计算机测量与控制》2025年第3期71-78,共8页Computer Measurement &Control

基　　金：国家自然科学基金(61703427)。

摘　　要：对无人集群航行过程中的编队一致性控制协议进行研究,采用二阶离散运动模型对无人系统的运动学特性进行描述,提出了基于虚拟领航者思想的一致性编队控制协议;采用矩阵理论对控制协议的稳定性进行了理论分析,提出了一种新的一致性控制协议证明过程,给出了控制协议中参数设计的约束条件;分析了编队控制过程中运用文章控制协议所需满足的约束条件,阐述了控制协议参数的设计流程;经实验测试所提控制协议能够有效满足集群编队的一致性控制需求。A study is conducted on the formation consistency control protocol during the navigation of unmanned swarms,the kinematic characteristics of unmanned systems are presented by using a second-order discrete motion model,and a consistent formation control protocol based on the idea of virtual navigator is proposed.this paper makes a theoretical analysis on the stability of control protocol by using matrix theory,proposes a new proof process of coherent control protocol,givens the constraints of parameter design in the control protocol,analyzes the constraints to be satisfied by the control protocol in the formation control process,and explains the design process of control protocol parameters.Experimental results show that the proposed control protocol can effectively meet the consistency control requirements of swarm formation.

关 键 词：无人集群 编队控制 一致性控制 矩阵分析 

分 类 号：U416.216[交通运输工程—道路与铁道工程]