摘要
针对多无人机系统在时变通信拓扑下的编队控制问题,设计了一种分布式编队控制算法。首先通过线性变换,将无人机在切换通信拓扑下的编队问题转换为一个具有较低维数的切换线性系统的稳定性问题。然后,通过分析拓扑图的拉普拉斯矩阵的性质,成功找到一个该切换线性系统共同李雅普诺夫函数,进而利用李雅普诺夫稳定性分析方法,得到了在通信拓扑结构时变的情况下,无人机系统编队形成的充分条件。最后,通过仿真实验验证了结论的正确性。
The formation control problem of multi-UAV system was studied.A distributed formation control algorithm was proposed.Through linear transformation,the formation problem of UAVs under the switching communication topology was transformed into a stability problem of a switched linear system with lower dimension.By analyzing the properties of the Laplacian matrix of the topology,a common Lyapunov function of the switched linear system was successfully found,and the Lyapunov stability analysis method of the switched linear system was used to obtain the sufficient conditions for achieving formation with time-varying communication topology.The correctness of the conclusion was verified by simulation experiments.
作者
刘伟
李大卫
郑百东
戴洪德
LIU Wei;LI Dawei;ZHENG Baidong;DAI Hongde(Naval Aviation University,Yantai 264000,China)
出处
《兵器装备工程学报》
CAS
CSCD
北大核心
2022年第11期252-257,共6页
Journal of Ordnance Equipment Engineering
基金
山东省自然科学基金项目(F062102009)。
