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针对多无人机(UAV)间通信拓扑可能发生变化的情况,研究了具有二阶积分特性的无人机集群系统的轨迹跟踪与时变编队控制问题。基于一致性方法设计了编队控制器,将编队控制问题转换成闭环系统的稳定性问题,引入了切换拓扑平均驻留时间的概念,并在此基础上利用线性矩阵不等式(LMI)方法,给出了控制器设计步骤。通过构造分段连续Lyapunov函数,证明了切换拓扑下无人机集群系统能够实现对指定轨迹的跟踪并且实现时变编队飞行。以三维空间运动的无人机集群系统为例进行了仿真验证,结果表明本文所提方法能够解决切换拓扑下无人机集群系统的轨迹跟踪与时变编队问题。
Aiming at the situation that the communication topology may change between UAVs, the trajectory tracking and time-varying formation control of UAV cluster system with second-order integration are studied. Based on the consistency method, a formation controller is designed to convert the formation control problem into the stability problem of the closed-loop system. The concept of switching the average residence time of the topology is introduced. Based on this, the linear matrix inequality (LMI) The controller design steps. By constructing the piecewise continuous Lyapunov function, it is proved that the UAV cluster system can track the specified trajectory and realize the time-varying formation flight under the switching topology. The simulation results show that the method proposed in this paper can solve the trajectory tracking and time-varying formation in the UAV cluster system with switched topologies.