具有输入时延的分布式多无人机编队协同算法  

Distributed Multiple UAVs' Formation Coordination with Input Time-delays

作　　者：王品[1] 姚佩阳 

机构地区：[1]空军工程大学信息与导航学院,西安710077

出　　处：《控制工程》2017年第S1期130-134,共5页Control Engineering of China

基　　金：国家自然科学基金资助(61573017;61403414)

摘　　要：运用二阶一致性协议解决三维空间内多无人机(multiple UAVs)分布式协同编队问题,讨论了不同输入时延对系统稳定性造成的影响。通过构造、分析Lyapunov-Krasovskii泛函,得到有向通信拓扑条件下,系统收敛的充分条件,所允许最大输入时延可通过求解线性矩阵不等式(LMI)的方式获得。最后,仿真实验验证了分析过程和结论的有效性。The second-order consensus protocol is used to the distributed multiple UAVs cooperative formation in the three-dimensional space. The stability problem of the system with multi-input delays is discussed. The sufficient condition of consensus in directed topology is obtained by constructing Lyapunov-Krasovskii functions. The feasible bound of the input delays can be got by solving the linear matrix inequality(LMI). At last, the simulations show the effectiveness of the analysis procedure and conclusion.

关 键 词：多无人机 分布式编队 一致性 输入时延 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V279