Event-based cooperative control of multiple flight vehicles formation
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摘要:
针对多飞行器系统协同控制问题，研究了基于事件驱动机制的控制设计方法。结合有向通信拓扑和编队位置描述建立了空间多飞行器系统的模型，在飞行器编队中引入事件驱动方法，设计了一般形式的事件触发函数，在非触发时间内利用触发时刻的信息生成了协同控制律，使得飞行器在非持续通信下能够形成三维空间任意给定的队形，并从理论上给出了协同控制问题的稳定性证明。提出的方法不需要飞行器系统的全局信息，飞行器只需要在触发时刻进行通信和控制器的更新，更有利于实际情形中的应用。仿真结果验证了该方法的有效性。
Abstract:This paper is concerned with the cooperative control problem of multiple flight vehicles, and an event-based control policy is investigated. The multiple flight vehicle system is modeled involving directed graph and relative position in the formation. By designing a general trigger function, the states at trigger time are employed to construct the consensus protocol for formation at non-trigger time. The three-dimensional formation can be achieved under non-continuous communication driven by events, and its stability is analyzed in this paper. The overall information is unnecessary in the proposed method. Instead, the information exchange is conducted only at trigger time. Then the controller of each flight vehicle is updated, which could be more applicable to practical situations. A flight formation example is given to illustrate the effectiveness of the proposed method.
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图 1 飞行器空间相对位置描述
Figure 1. Illustration of relative spatial positions between flight vehicles
表 1 飞行器初始状态
Table 1. Initial conditions of flight vehicles
飞行器 位置/m 速度/(m·s-1) 航迹偏角/(°) 航迹倾角/(°) 1 (0, 0, 39) 63.2 5.1 18.4 2 (43, -55, 0) 59.8 21.8 25.7 3 (117, 19, -40) 72.1 56.3 0 4 (80, 0, -20) 58.4 69.6 -9.8 5 (100, -78, 0) 72.2 88.3 14.4 
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表 2 不同触发参数结果对比
Table 2. Results comparison of different trigger parameters
情形 触发函数参数 (δ0i, δ1i, σi) 飞行器1~5的触发次数 收敛时间/s 1 (-3, -0.7, 0.05) 43, 41, 41, 42, 42 23.76 2 (-5, -0.7, 0.05) 26, 29, 30, 30, 31 24.47 3 (-5, -0.7, 0.03) 22, 24, 25, 26, 26 24.70 4 (-3, -0.1, 0.05) 59, 55, 55, 56, 57 23.49 文献[12] 22.95
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