北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (3): 506-515.doi: 10.13700/j.bh.1001-5965.2016.0222

• 论文 • 上一篇    下一篇

基于事件驱动的多飞行器编队协同控制

马鸣宇1, 董朝阳1, 王青2, 程昊宇1   

  1. 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
  • 收稿日期:2016-03-22 出版日期:2017-03-20 发布日期:2016-09-12
  • 通讯作者: 董朝阳,E-mail:dongchaoyang@buaa.edu.cn E-mail:dongchaoyang@buaa.edu.cn
  • 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。
  • 基金资助:
    国家自然科学基金(61374012)

Event-based cooperative control of multiple flight vehicles formation

MA Mingyu1, DONG Chaoyang1, WANG Qing2, CHENG Haoyu1   

  1. 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
  • Received:2016-03-22 Online:2017-03-20 Published:2016-09-12

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。

关键词: 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.

Key words: multiple flight vehicle system, flight formation, cooperative control, event-based control, directed topology

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