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基于事件触发的多机编队目标跟踪控制

张毅 方国伟 杨秀霞 严瑄

张毅, 方国伟, 杨秀霞, 等 . 基于事件触发的多机编队目标跟踪控制[J]. 北京航空航天大学学报, 2021, 47(11): 2215-2225. doi: 10.13700/j.bh.1001-5965.2020.0432
引用本文: 张毅, 方国伟, 杨秀霞, 等 . 基于事件触发的多机编队目标跟踪控制[J]. 北京航空航天大学学报, 2021, 47(11): 2215-2225. doi: 10.13700/j.bh.1001-5965.2020.0432
ZHANG Yi, FANG Guowei, YANG Xiuxia, et al. Multi-UAV formation target tracking control based on event-triggered strategy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(11): 2215-2225. doi: 10.13700/j.bh.1001-5965.2020.0432(in Chinese)
Citation: ZHANG Yi, FANG Guowei, YANG Xiuxia, et al. Multi-UAV formation target tracking control based on event-triggered strategy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(11): 2215-2225. doi: 10.13700/j.bh.1001-5965.2020.0432(in Chinese)

基于事件触发的多机编队目标跟踪控制

doi: 10.13700/j.bh.1001-5965.2020.0432
基金项目: 

总装预研基金 6142055040203

详细信息
    通讯作者:

    杨秀霞, E-mail: yangxiuxia@126.com

  • 中图分类号: V249

Multi-UAV formation target tracking control based on event-triggered strategy

Funds: 

Pre-Research Foundation of General Armament Department 6142055040203

More Information
  • 摘要:

    为解决多机编队目标跟踪过程中存在的机间通信和控制更新频繁的问题,提出了一种具有事件触发机制的多机编队目标跟踪控制算法。首先,给出了一种具有事件触发策略的编队队形描述与目标跟踪一体化算法,简化了算法设计的复杂度,并使触发机制的工作过程更加直观;其次,给出了分布式目标跟踪控制律,并仅利用状态估计信息设计了事件触发函数,使无人机间通信与控制更新问题转换为判别触发函数的取值问题,同时设计了最小触发间隔系数,避免了可能存在的"Zeno行为";最后,以编队不同的运动模式对算法进行了仿真验证。研究结果表明:所提算法能使无人机编队在机间通信与控制更新次数明显减少的情况下跟踪上目标。

     

  • 图 1  基于事件触发的编队目标跟踪控制示意图

    Figure 1.  Schematic diagram of formation target tracking control based on event-triggered mechanism

    图 2  UAVl追踪目标示意图

    Figure 2.  Schematic diagram of UAVl tracking a target

    图 3  通信拓扑

    Figure 3.  Communication topology

    图 4  ω=0时的仿真

    Figure 4.  Simulation results when ω=0

    图 5  ω≠0时的仿真

    Figure 5.  Simulation results when ω≠0

    图 6  采用文献[13]的触发函数下的触发分布

    Figure 6.  Trigger distribution under triggered function in Ref.[13]

    表  1  有无触发机制下的时间对比(情况1)

    Table  1.   Time comparison with and without triggered mechanism (Case 1)

    情况 UAV 触发次数 平均间隔/s Δkiti决定的次数 τi决定的次数 采用零阶保持器情况
    事件触发 1 367 0.081 7 266 101 577
    2 355 0.084 5 272 83 601
    3 357 0.084 0 293 64 586
    4 375 0.080 0 265 110 600
    无事件触发 1~4 30 000 0.001 0
      注:Δtkii决定的次数表示由触发函数决定的触发次数;τi决定的次数表示由最小触发时间间隔决定的触发次数。
    下载: 导出CSV

    表  2  有无触发机制下的时间对比(情况2)

    Table  2.   Time comparison with and without triggered mechanism (Case 2)

    情况 UAV 触发次数 平均间隔/s Δtkii决定的次数 τi决定的次数
    事件触发 1 618 0.048 5 89 529
    2 626 0.047 9 83 543
    3 625 0.048 0 72 553
    4 605 0.049 6 65 540
    无事件触发 1~4 30 000 0.001 0
    下载: 导出CSV

    表  3  采用文献[13]的触发函数下的时间对比

    Table  3.   Time comparison under triggered function in Ref.[13]

    UAV ω=0 ω≠0
    触发次数 平均间隔/s 触发次数 平均间隔/s
    1 655 0.045 8 15 882 0.001 9
    2 610 0.049 2 15 798 0.001 9
    3 636 0.047 2 15 811 0.001 9
    4 691 0.043 4 15 717 0.001 9
    下载: 导出CSV
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出版历程
  • 收稿日期:  2020-08-14
  • 录用日期:  2020-10-10
  • 网络出版日期:  2021-11-20

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