计算机工程 ›› 2020, Vol. 46 ›› Issue (8): 284-289.doi: 10.19678/j.issn.1000-3428.0055224

• 开发研究与工程应用 • 上一篇    下一篇

基于多无人机系统的编队包含控制

赵学远, 周绍磊, 王帅磊, 闫实   

  1. 海军航空大学 控制工程系, 山东 烟台 264001
  • 收稿日期:2019-06-17 修回日期:2019-08-26 发布日期:2019-09-03
  • 作者简介:赵学远(1995-),男,硕士研究生,主研方向为多无人机编队;周绍磊,教授、博士;王帅磊,博士研究生;闫实,博士。
  • 基金项目:
    国防科技项目基金(F062102009)。

Formation Containment Control Based on Multiple Unmanned Aerial Vehicle System

ZHAO Xueyuan, ZHOU Shaolei, WANG Shuailei, YAN Shi   

  1. Department of Control Engineering, Naval Aeronautical University of PLA, Yantai, Shandong 264001, China
  • Received:2019-06-17 Revised:2019-08-26 Published:2019-09-03

摘要: 针对具有多领导者的多无人机系统时变编队包含控制问题,设计一种一致性分布式控制器。通过变量代换将编队包含控制问题转换为一致性问题,利用Laplacian矩阵的特殊性质以及领导者、跟随者之间关系,将一致性问题简化为低阶系统的稳定性问题,运用Lyapunov函数对稳定性问题进行分析,提出控制器的设计方法,并给出反馈矩阵求解方式。对多无人机系统在空间中的运动进行仿真,结果表明,领导者在空间中形成期望编队,跟随者在领导者构成的凸包内运动,能够实现编队包含控制。

关键词: 多无人机, 多领导者, 编队包含控制, 一致性问题, Lyapunov函数

Abstract: To address formation containment control of multipleUnmanned Aerial Vehicles(multi-UAV) systems with multiple leaders,this paper designs a consistent distributed controller.The formation containment control problem is transformed into a consistence problem by variable substitution.By using the special properties of Laplacian matrix and the relationship between leaders and followers,the consistence problem is simplified to a stability problem of low-order systems.The stability problem is analyzed by Lyapunov function,and on this basis the design method of controller is proposed,and the solution to the feedback matrix is given.The motion of multi-UAVs system in space is simulated,and results show that the leaders form the desired formation in space and the followers move in the convex hull formed by the leaders,which means the formation containment control is realized.

Key words: multiple Unmanned Aerial Vehicles(UAV), multiple leaders, formation containment control, consistence problem, Lyapunov function

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