基于无线网络通信的多无人飞行器编队飞行控制容易受到通信间断、数据包冲突等因素的影响, 借鉴分布式网络中的令牌环思想提出了一种通信拓扑的切换方法, 并引入切换长机的概念。基于一致性理论利用局部相对状态信息设计了分布式控制律, 该控制律由两部分组成：一部分是编队对于预设轨迹的跟踪;另一部分是队形的保持。采用双积分动力系统模型进行仿真实验, 结果表明所提方法可以实现编队对预定轨迹的跟踪及飞行中的编队保持, 即便通信节点故障也能继续保持预设队形, 具有较强的鲁棒性。

The flight control of the formation of multiple Unmanned Aerial Vehicles (UAVs) based on wireless network communication is easily affected by such factors as communication interruption and information collision.Based on a Token-Ring algorithm of distributed network, a method to switch communication topologies is proposed, and a concept of leader switching is introduced.The distributed control law is designed based on the consensus theory and the local relative state information, which is made up of two parts:tracking of the desired trajectory of formation and maintaining of the formation geometry.A double-integrator dynamics system model is used for simulation.The results show that:1) The proposed method can make the formation implement the desired trajectory tracking and maintain formation geometry in flight;and 2) The designed control system has strong robustness, which can keep the preset formation geometry even when some of the communication nodes fail.