摘要
针对无人机(unmannd aerial vehicle,UAV)对快速运动目标的协同探测问题,设计了一种多UAV协同探测控制算法。首先假设每架UAV都携带相同的探测载荷,根据载荷特性设计了针对快速运动目标的UAV协同探测队形。然后引入固定时间控制一致性协议到UAV载荷角度控制中,控制载荷持续照射目标;引入有限时间一致性协议到UAV编队控制中,用以形成协同探测队形,并通过二跳网络加快队形的收敛。通过将UAV队形控制与UAV载荷的角度控制相结合,从而实现UAV对快速运动目标探测时间的最大化,极大的延长了高速运动目标被发现的时间。最终通过理论分析和仿真实验证明了该控制算法的有效性。
Aiming at the problem of unmannd aerial vehicle(UAV)cooperative detection of fast moving target,a multi-UAV cooperative detection control algorithm is designed.Firstly,assuming that each UAV carries the same detection load,and a cooperative detection formation for fast moving targets was designed according to the load characteristics.Then,fixed-time control consistency protocol is introduced into the UAV load angle control to control the load to irradiate the target continuously;finite-time consistency protocol is introduced into the UAV formation control to form the cooperative detection formation and speed up the convergence of the formation through two-hop network.Through the combination of UAV formation control and UAV load angle control,the detection time of fast moving target is maximized,and the detection time of high-speed moving target is greatly prolonged.Finally,the effectiveness of the control algorithm is proved by the mathematical analysis and the simulation experiment.
作者
符小卫
陈子浩
FU Xiaowei;CHEN Zihao(School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710129, China;System Design Institute of Hubei Aerospace Teohnology Academy, Wuhan 430040, China)
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2021年第11期3295-3304,共10页
Systems Engineering and Electronics
基金
航空科学基金(2020Z023053001)资助课题。
关键词
固定时间一致性协议
有限时间一致性协议
协同探测
无人机编队
fixed-time consensus protocol
finite-time consensus protocol
cooperative detection
unmannd aerial vehicle(UAV)formation
