多无人作战飞机定点定时集结策略
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摘要
针对多无人作战飞机定点定时集结问题,以分布式控制方法为指引,提出了通用型集结点分配算法以及考虑过去状态差值的一致性控制协议。首先,提出了以耗能矩阵为基础的集结点分配算法以实现集结点和无人机的匹配,使多无人机在指定位置以特定队形完成集结;其次,利用当前状态和过去状态相结合的一致性控制协议使多无人机在同一时刻到达指定集结点。仿真结果表明,所设计的方法可有效解决多无人机定点定时集结问题。
To solve the problem of UCAVs rendezvousing at fixed point and time,a rendezvousing point assignment algorithm and a consensus control protocol are investigated. Firstly,the problem of multiple UCAVs rendezvousing at fixed position in a specific formation configuration was solved by rendezvousing point assignment algorithm on the basis of energy consumption matrix. Then,the problem of multiple UCAVs rendezvousing at fixed time was solved by a new consensus control protocol that combines current states and outdated states. The simulation results show that the proposed methods can efficiently solve the problem of rendezvousing at fixed point and time.
To solve the problem of UCAVs rendezvousing at fixed point and time,a rendezvousing point assignment algorithm and a consensus control protocol are investigated. Firstly,the problem of multiple UCAVs rendezvousing at fixed position in a specific formation configuration was solved by rendezvousing point assignment algorithm on the basis of energy consumption matrix. Then,the problem of multiple UCAVs rendezvousing at fixed time was solved by a new consensus control protocol that combines current states and outdated states. The simulation results show that the proposed methods can efficiently solve the problem of rendezvousing at fixed point and time.
引文
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[5]梅权,姚佩阳.一致性Multi-Agent编队控制综述[J].电光与控制,2017,24(1):54-57.
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[7] Zhang Xiangyin,Duan Haibin,Yu Yaxiang. Receding horizon control for multi-UAVs close formation control based on differential evolution[J]. Science China Information Sciences,2010,53(2):223-235.
[8] Wang Wei,Slotine J E. Contraction analysis of timedelayed communications and group cooperation[J]. IEEE Transactions on Automatic Control,2006,51(4):712-717.
[2]茹常剑,魏瑞轩,戴静,等.基于纳什议价的无人机编队自主重构控制方法[J].自动化学报,2013,39(8):1349-1359.
[3]李少斌,陈炎财,杨忠,等.具有通信延迟的多无人机编队飞行控制[J].信息与控制,2012,41(2):142-146.
[4] Saber R O,Murray R M.Consensus problems in networks of agents with switching topology and time-delays[J].IEEE Transactions on Automatic Control,2004,49(9):1520-1533.
[5]梅权,姚佩阳.一致性Multi-Agent编队控制综述[J].电光与控制,2017,24(1):54-57.
[6] Mclain T W,Chandler P R.Cooperative control of UAV rendezvous[C]∥AIAA Guidance,Navigation and Control Conference. Reston:AIAA,2001:2309-2314.
[7] Zhang Xiangyin,Duan Haibin,Yu Yaxiang. Receding horizon control for multi-UAVs close formation control based on differential evolution[J]. Science China Information Sciences,2010,53(2):223-235.
[8] Wang Wei,Slotine J E. Contraction analysis of timedelayed communications and group cooperation[J]. IEEE Transactions on Automatic Control,2006,51(4):712-717.