无人集群系统时变编队<i>H</i><sub>∞</sub>控制

康宇航; 戴洪德; 祁亚辉; 张邦楚; 刘玄冰; 程俊

doi:10.13700/j.bh.1001-5965.2020.0200

无人集群系统时变编队H_∞控制

doi: 10.13700/j.bh.1001-5965.2020.0200

康宇航^{1, 2},
戴洪德²,
祁亚辉²,
张邦楚³,
刘玄冰²,
程俊^1, ,

1.
中国科学院深圳先进技术研究院, 深圳 518055
2.
海军航空大学航空基础学院, 烟台 264001
3.
中山大学航空航天学院, 广州 510275

基金项目:

国家重点研发计划 2018YFB1308000

国家自然科学基金 U1813205

国家自然科学基金 U1913202

国家自然科学基金 U1713213

国家自然科学基金 61772508

国防预研基金 F062102009

详细信息

作者简介:
康宇航男, 博士, 助理研究员。主要研究方向: 多智能体协同控制、强化学习

戴洪德男, 博士, 副教授。主要研究方向: 导航制导与控制、多无人机编队控制

祁亚辉男, 博士, 讲师。主要研究方向: 多无人机协同控制

张邦楚男, 博士, 教授。主要研究方向: 无人机系统

刘玄冰男, 硕士研究生。主要研究方向: 多智能体协同控制

程俊男, 博士, 研究员。主要研究方向: 多智能体协同控制、深度学习、机器视觉

通讯作者:
程俊. E-mail: jun.cheng@siat.ac.cn

中图分类号: V249.1;TP273
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- 文章访问数: 1443
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- 被引次数: 0
出版历程
- 收稿日期: 2020-05-22
- 录用日期: 2020-07-17
- 网络出版日期: 2021-02-20

Time-varying formation H_∞ control for air unmanned swarm system

1.
Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
2.
College of Aviation Foundation, Naval Aeronautical University, Yantai 264001, China
3.
School of Aeronautics and Astronautics, Sun Yat-Sen University, Guangzhou 510275, China

Funds:

National Key R & D Program of China 2018YFB1308000

National Natural Science Foundation of China U1813205

National Natural Science Foundation of China U1913202

National Natural Science Foundation of China U1713213

National Natural Science Foundation of China 61772508

National Defense Pre-research Project Fund F062102009

More Information

Corresponding author: CHENG Jun. E-mail: jun.cheng@siat.ac.cn

摘要

摘要:
针对有向通信拓扑网络下具有通信时滞与外部干扰的无人集群系统（AUSS）时变编队H_∞控制问题进行了研究。首先，基于AUSS期望编队构型信息、无人机（UAV）实时状态信息以及通信UAV之间带通信时滞的状态误差信息提出了AUSS的编队控制方法，通过变量替换将AUSS的编队控制问题转换成低维闭环系统的渐近稳定问题，并以线性矩阵不等式（LMI）形式给出了系统稳定的充分条件与最大允许通信时滞的计算公式。其次，通过构造Lyapunov-Krasovskii（L-K）泛函，证明了存在通信时滞与外部干扰条件下AUSS能够实现时变编队。最后，通过数值仿真验证所设计方法的准确性与有效性。
- 无人集群系统(AUSS) /
- 时变编队 /
- 通信时滞 /
- 外部干扰 /
- H_∞控制
Abstract:
This paper studies the time-varying formation H_∞ control problem for Air Unmanned Swarm System (AUSS) under directed communication topology, corrupted by communication delay and external disturbances. First, based on the expected formation configuration information of swarm system, the real-time state information of Unmanned Aerial Vehicle (UAV) and the state error information with communication delay between UAVs which are able to communicate, the formation control approach of unmanned swarm system is proposed. Through variable substitution, the swarm system formation control problem is converted into the asymptotic stability problem of lower-dimensional closed-loop system, and the sufficient conditions for the stability of the system and the calculation formula of the maximum allowable communication delay are given in the form of Linear Matrix Inequalities (LMIs). Then, it is proved that the unmanned swarm system can accomplish time-varying formation by constructing Lyapunov-Krasovskii (L-K) functional. Finally, through numerical simulation, the accuracy and effectiveness of the proposed method are verified.
- Air Unmanned Swarm System (AUSS) /
- time-varying formation /
- communication delay /
- external disturbances /
- H_∞ control

HTML全文

图 1 通信拓扑

Figure 1. Communication topology

下载: 全尺寸图片幻灯片

图 2 存在通信时滞与随机噪声干扰条件下的运动轨迹

Figure 2. Trajectories with communication delay and random noise disturbances

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图 3 存在通信时滞与随机噪声干扰条件下的运动轨迹(对比文献[24]方法)

Figure 3. Trajectories with communication delay and random noise disturbances (compared with Ref.[24])

下载: 全尺寸图片幻灯片

图 4 存在通信时滞与正向外部干扰条件下的运动轨迹

Figure 4. Trajectories with communication delay and positive external disturbances

下载: 全尺寸图片幻灯片

图 5 存在通信时滞与正向外部干扰条件下的运动轨迹(对比文献[24]方法)

Figure 5. Trajectories with communication delay and positive external disturbances (compared with Ref.[24])

下载: 全尺寸图片幻灯片

图 6 存在通信时滞与正向外部干扰条件下的东向速度变化曲线

Figure 6. Eastern velocity change curves with communication delay and positive external disturbances

下载: 全尺寸图片幻灯片

图 7 存在通信时滞与正向外部干扰条件下的北向速度变化曲线

Figure 7. Northern velocity change curves with communication delay and positive external disturbances

下载: 全尺寸图片幻灯片

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