基于事件驱动的多飞行器编队协同控制

马鸣宇; 董朝阳; 王青; 程昊宇

doi:10.13700/j.bh.1001-5965.2016.0222

基于事件驱动的多飞行器编队协同控制

doi: 10.13700/j.bh.1001-5965.2016.0222

1.
北京航空航天大学航空科学与工程学院, 北京 100083
2.
北京航空航天大学自动化科学与电气工程学院, 北京 100083

基金项目:

国家自然科学基金 61374012

详细信息

作者简介:
马鸣宇，男，博士研究生。主要研究方向：飞行器协同控制，网络控制系统理论

董朝阳，男，博士，教授，博士生导师。主要研究方向：飞行器设计，导航、制导与控制

通讯作者:
董朝阳, E-mail:dongchaoyang@buaa.edu.cn

中图分类号: V249;TP273
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- 文章访问数: 1108
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- PDF下载量: 756
- 被引次数: 0
出版历程
- 收稿日期: 2016-03-22
- 录用日期: 2016-06-20
- 网络出版日期: 2017-03-20

Event-based cooperative control of multiple flight vehicles formation

1.
School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:

National Natural Science Foundation of China 61374012

摘要

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。
- 多飞行器系统 /
- 编队飞行 /
- 协同控制 /
- 事件驱动 /
- 有向拓扑
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.
- multiple flight vehicle system /
- flight formation /
- cooperative control /
- event-based control /
- directed topology

HTML全文

图 1 飞行器空间相对位置描述

Figure 1. Illustration of relative spatial positions between flight vehicles

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图 2 飞行器之间的拓扑

Figure 2. Topology among flight vehicles

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图 3 飞行器期望队形

Figure 3. Desired formation of flight vehicles

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图 4 多飞行器编队飞行仿真结果

Figure 4. Simulation results of multiple flight vehicles formation

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图 5 不同参数下Y值变化曲线

Figure 5. Variation curves of Y with different parameters

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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, σ_i)	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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