基于领导跟随一致性理论的队形保持策略
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摘要
针对多无人机编队飞行过程中的队形保持问题,提出了二阶非线性切换拓扑结构下的领导跟随一致性控制协议。利用构建的利亚普诺夫函数和线性矩阵不等式给出了判据及相应的稳定性证明。仿真结果表明利用所设计的领导跟随一致性控制协议,可有效实现多无人机在相同速度下保持期望的队形协同飞行。
To solve the problem of multiple UAVs formation keeping,a kind of leader-following consensus protocol for second-order nonlinear dynamics is put formard under switching topology. Furthermore,the criterion and corresponding stability proof are given by constructing suitable Lyapunov function and linear matrix inequation. The simulation results show that multiple UAVs can achieve the desired formation configuration at the same velocity based on the designed leader-following consensus protocol.
To solve the problem of multiple UAVs formation keeping,a kind of leader-following consensus protocol for second-order nonlinear dynamics is put formard under switching topology. Furthermore,the criterion and corresponding stability proof are given by constructing suitable Lyapunov function and linear matrix inequation. The simulation results show that multiple UAVs can achieve the desired formation configuration at the same velocity based on the designed leader-following consensus protocol.
引文
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[9]王新民,王晓燕,肖堃.无人机编队飞行技术[M].西安:西北工业大学出版社,2015.
[2]李文皓,张珩.无人机编队飞行技术的研究现状与展望[J].飞行力学,2007,25(1):9-13.
[3]WEI R. Consensus based formation control strategies for multi-vehicle systems[C]//Proceedings of the 2006 American Control Conference Minneapolis,Minnesota,USA,2006:4237-4242.
[4]LIU C L,TIAN Y P. Formation control of multi-agent systems with heterogeneous communication delays[J]. International Journal of Systems Science,2009,40(6):627-363.
[5]XIE D M,WANG S K. Consensus of second-order discrete-time multi-agent systems with fixed topology[J].Journal of Mathematical Analysis and Applications,2011,387(1):8-16.
[6]刘佳.多智能体系统分布式控制及一致性研究[D].天津:南开大学,2012.
[7]WANG J L,WU H N. Local and global exponential output synchronization of complex delayed dynamical networks[J].Nonlinear Dynamics,2012,67(1):497-504.
[8]REN W,MOORE K L,CHEN Y Q. High-Order and model reference consensus algorithms in cooperative control of multi vehicle systems[J]. Journal of Dynamic Systems,Measurement,and Control,2007,29(6):678-688.
[9]王新民,王晓燕,肖堃.无人机编队飞行技术[M].西安:西北工业大学出版社,2015.