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

doi:10.13700/j.bh.1001-5965.2020.0432

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

张毅¹,
方国伟²,
杨秀霞^2, ,,
严瑄²

1.
海军航空大学航空作战勤务学院, 烟台 264001
2.
海军航空大学岸防兵学院, 烟台 264001

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
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- 被引次数: 0
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

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

1.
School of Aviation Combat Service, Naval Aviation University, Yantai 264001, China
2.
School of Coastal Defence, Naval Aviation University, Yantai 264001, China

Funds:

Pre-Research Foundation of General Armament Department 6142055040203

More Information

Corresponding author: YANG Xiuxia, E-mail: yangxiuxia@126.com

摘要

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。
- 目标跟踪 /
- 事件触发控制 /
- 编队控制 /
- 触发函数 /
- 最小触发间隔系数
Abstract:
In order to solve the problem of frequent updating of information between UAVs and control input in multi-UAV formation target tracking, this paper proposes a multi-UAV formation target tracking control algorithm based on event-triggered mechanism. Firstly, a new integrated method of formation description and target tracking with event-triggered strategy is presented, which simplifies the complexity of algorithm design and makes the working process of triggered mechanism more intuitive. Secondly, distributed target tracking control law is designed, and event-triggered function is designed only based on estimated state value, so that the problem of updating communication and control input between UAVs is transformed into the problem of determining the value of triggered function. At the same time, the minimum triggered interval coefficient is designed to avoid the possible "Zeno behavior". Finally, the algorithm is verified by simulation with different formation motion modes. The results show that the proposed algorithm can make UAV formation track the target when the number of inter-aircraft communication and control update is significantly reduced.
- target tracking /
- event-triggered control /
- formation control /
- triggered function /
- minimum triggered interval coefficient

HTML全文

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

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图 2 UAV_l追踪目标示意图

Figure 2. Schematic diagram of UAV_l tracking a target

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图 3 通信拓扑

Figure 3. Communication topology

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图 4 ω=0时的仿真

Figure 4. Simulation results when ω=0

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图 5 ω≠0时的仿真

Figure 5. Simulation results when ω≠0

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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]

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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	Δ_{k_i}tⁱ决定的次数	τ_i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：Δt_{k_i}ⁱ决定的次数表示由触发函数决定的触发次数；τ_i决定的次数表示由最小触发时间间隔决定的触发次数。

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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	Δt_{k_i}ⁱ决定的次数	τ_i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

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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
UAV	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

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