摘要
针对在联合连通拓扑条件下的多无人机系统,研究了具有二阶动力学系统模型的多无人机系统时变编队控制问题。基于一致性理论,设计了一致性控制器,将联合连通拓扑条件下的编队控制问题简化为低阶时间平均系统的渐进稳定性问题。利用Lyapunov函数证明了所设计的控制器能够实现编队控制,并利用线性矩阵不等式(LMI)方法给出了控制器的设计算法。在三维空间中,对多无人机系统进行了仿真,验证了所设计的一致性控制器能够使得多无人机系统在联合连通拓扑条件下形成时变编队。
The time-varying formation control of multi-UAV system with second-order dynamic system model is studied under the condition of jointly connected topology. Based on consistency theory, a consensus controller is designed. The formation control problem under jointly connected topology is simplified to the asymptotic stability problem of low-order time-averaged systems. The Lyapunov function is used to prove that the designed controller can realize formation control. The design algorithm of the controller is given by using linear matrix inequality(LMI) method. In the three-dimensional space, the multi-UAV system is simulated, and the consensus controller designed can make the multi-UAV system form time-varying formation with jointly connected topology.
作者
周绍磊
赵学远
戴邵武
王帅磊
ZHOU Shao-lei;ZHAO Xue-yuan;DAI Shao-wu;WANG Shuai-lei(Naval Aeronautical University of PLA,Yantai 264001,China)
出处
《导航定位与授时》
2020年第1期80-85,共6页
Navigation Positioning and Timing
基金
国防科技项目基金(F062102009)
