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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

何吕龙, 张佳强, 侯岳奇, 等 . 有向通信拓扑和时延条件下的无人机集群时变编队控制[J]. 北京航空航天大学学报, 2020, 46(2): 314-323. doi: 10.13700/j.bh.1001-5965.2019.0206
引用本文: 何吕龙, 张佳强, 侯岳奇, 等 . 有向通信拓扑和时延条件下的无人机集群时变编队控制[J]. 北京航空航天大学学报, 2020, 46(2): 314-323. doi: 10.13700/j.bh.1001-5965.2019.0206
HE Lyulong, ZHANG Jiaqiang, HOU Yueqi, et al. Time-varying formation control for UAV swarm with directed interaction topology and communication delay[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(2): 314-323. doi: 10.13700/j.bh.1001-5965.2019.0206(in Chinese)
Citation: HE Lyulong, ZHANG Jiaqiang, HOU Yueqi, et al. Time-varying formation control for UAV swarm with directed interaction topology and communication delay[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(2): 314-323. doi: 10.13700/j.bh.1001-5965.2019.0206(in Chinese)

有向通信拓扑和时延条件下的无人机集群时变编队控制

doi: 10.13700/j.bh.1001-5965.2019.0206
基金项目: 

国家自然科学基金 61472443

国家自然科学基金 61703427

陕西省自然科学基金 2017JQ6035

详细信息
    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

    通讯作者:

    张佳强. E-mail: jiaqiang-z@163.com

  • 中图分类号: TP23

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

Funds: 

National Natural Science Foundation of China 61472443

National Natural Science Foundation of China 61703427

Natural Science Foundation of Shaanxi Province 2017JQ6035

More Information
  • 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。

     

  • 图 1  分布式通信时延统一策略

    Figure 1.  A distributed scheme to uniform communication delay

    图 2  离散时间系统中的通信时延

    Figure 2.  Communication delay in discrete-time systems

    图 3  参数设计流程图

    Figure 3.  Flowchart of parameter design

    图 4  无人机集群通信拓扑和期望编队

    Figure 4.  UAV swarm interaction topology and desired formation

    图 5  无人机运动轨迹

    Figure 5.  Trajectories of UAVs

    图 6  无人机速度变化曲线

    Figure 6.  Velocity variation curves of UAVs

    图 7  无人机集群编队误差

    Figure 7.  Formation error of UAV swarm

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出版历程
  • 收稿日期:  2019-05-05
  • 录用日期:  2019-09-06
  • 刊出日期:  2020-02-20

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