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摘要:
针对无人机(UVA)集群分组编队跟踪-包含控制问题，建立包括分组协同、跟踪-包含的分层协同控制架构。为突出集群系统的顶层规划能力，提出基于队形参数组的分组协同控制策略，克服了现有多编队控制方法难以实现队形变换的缺陷；在考虑组间通信耦合的基础上，设计自适应分组编队跟踪-包含控制律，克服了控制输入对Laplacian矩阵特征值的依赖，并给出集群系统实现期望队形的可行性约束；对控制输入引入饱和约束，并进一步推导得到输入饱和约束下系统稳定的充要条件，避免了集群的大幅机动行为。研究结果表明：所提策略能够实现无人机集群分组编队的跟踪-包含控制。
Abstract:To address the group formation tracking-containment control problem of unmanned aerial vehicles (UAV) swarm, a hierarchical cooperative control architecture including group cooperation and tracking-containment is established. In order to highlight the top-level planning ability of swarm system, a group cooperative control strategy based on formation parameter group is proposed, which overcomes the defect that the existing multi formation control methods are difficult to realize formation transformation. On the basis of considering the communication coupling between groups, an adaptive group formation tracking-containment control law is designed to overcome the dependence of the control input on the eigenvalues of the Laplacian matrix, and the feasibility constraint of the expected formation is given. The saturation constraint is introduced into the control input, and the necessary and sufficient conditions for the stability of the system under the input saturation constraint are further derived to avoid the large-scale maneuver of the swarm. The results show that the proposed strategy can realize the group formation tracking-containment control of UAV swarm.
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图 13 自适应增益$ {c_i}\left( t \right) $
Figure 13. Adaptive gain $ {c_i}\left( t \right) $
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