北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (2): 314-323.doi: 10.13700/j.bh.1001-5965.2019.0206

• 论文 • 上一篇    下一篇

有向通信拓扑和时延条件下的无人机集群时变编队控制

何吕龙, 张佳强, 侯岳奇, 梁晓龙, 柏鹏   

  1. 空军工程大学 航空集群技术与作战运用实验室, 西安 710051
  • 收稿日期:2019-05-05 发布日期:2020-03-11
  • 通讯作者: 张佳强 E-mail:jiaqiang-z@163.com
  • 作者简介:何吕龙,男,博士研究生。主要研究方向:航空集群空间构型生成与演化控制;张佳强,男,博士,副教授。主要研究方向:航空集群控制理论与应用;梁晓龙,男,博士,教授,博士生导师。主要研究方向:航空集群控制理论与应用。
  • 基金资助:
    国家自然科学基金(61472443,61703427);陕西省自然科学基金(2017JQ6035)

Time-varying formation control for UAV swarm with directed interaction topology and communication delay

HE Lyulong, ZHANG Jiaqiang, HOU Yueqi, LIANG Xiaolong, BAI Peng   

  1. Aviation Swarm Technology and Operational Application Laboratory, Air Force Engineering University, Xi'an 710051, China
  • Received:2019-05-05 Published:2020-03-11
  • Supported by:
    National Natural Science Foundation of China (61472443,61703427); Natural Science Foundation of Shaanxi Province (2017JQ6035)

摘要: 针对无人机(UAV)集群在有向通信拓扑和存在通信时延条件下的时变编队控制问题进行了研究。建立了无人机集群二阶离散时间系统模型,基于无人机自身实时信息和相邻无人机带通信时延的状态信息,设计了分布式编队控制协议。通过理论分析,得到了无人机集群能够实现时变编队的充要条件,给出了可行的期望编队的表达式。在集群通信拓扑有生成树的条件下,分析了控制协议中待定参数和状态更新周期满足的耦合约束条件,并给出了参数设计的流程。仿真结果表明:即使在较大的通信时延下,所设计的控制协议也能实现无人机集群时变编队控制,验证了理论分析的正确性和有效性。

关键词: 无人机(UAV)集群, 编队控制, 通信时延, 通信拓扑, 一致性控制

Abstract: Time-varying formation control problems for unmanned aerial vehicles (UAV) swarm with directed interaction topology and communication delay are investigated. The UAV swarm is modeled as second-order discrete-time system on the formation control level and a distributed formation control protocol is designed by utilizing the instantaneous state information of UAV itself and the communication delayed state information of its neighbors. Through theoretical analysis, the necessary and sufficient conditions for UAV swarm to achieve time-varying formation are obtained, and an explicit description of the feasible time-varying formation set is given. Under the condition that the swarm communication topology has a spanning tree, the constraints of undetermined parameters and state update period in the control protocol are analyzed, and the flowchart of parameter design is given. Simulation results show that the designed control protocol can achieve time-varying formation control of UAV swarm even with relatively large communication delay, and thus the correctness and effectiveness of the theoretical analysis are verified.

Key words: unmanned aerial vehicles (UAV) swarm, formation control, communication delay, interaction topology, consensus control

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