针对无人机编队的通信拓扑切换问题, 研究了一种基于联合误差的编队控制方法。基于无人机自身位置设置弹性前视点, 通过各无人机间位置误差和速度误差, 建立了带有联合误差的线性状态方程。引入编队中其他无人机之间的误差反馈, 设计了一种弹性的扩展一致性控制器。经典的一致性控制是该扩展一致性控制律在某些无人机之间的误差未知情况下的一个特例。最后, 应用Hurwitz稳定性分析方法验证了固定通信拓扑结构系统的稳定性, 并给出了其稳定的充分条件。采用Lyapunov稳定性分析方法得出了切换通信拓扑结构的指数收敛的条件。仿真结果表明该方法在固定和切换的拓扑下均能保持稳定队形, 而且弹性编队能很好地适应长机速度变化。

To solve the problem of communication topology switching for UAV formation,a method for UAV formation control based on the joint errors is proposed.This method is essentially an extension of the consensus control theory.Based on the position of the UAV,an elastic look-ahead point is set.Using the position and velocity errors of each UAV,the linear state equation with the joint errors is established.The error feedback between other UAVs in the formation is introduced and an elasticity extension consensus controller is designed.The classic consistency controller is a special case for the extended consensus control in the case of not knowing certain errors between the UAVs.Finally,the stability of the fixed communication topology system is verified by using the Hurwitz stability analysis method,and the sufficient conditions for its stability are given.The condition of exponential convergence of switching communication topology is obtained by using Lyapunov stability analysis method.The simulation results show that the method can keep the formation stable under fixed and switched topologies and the elasticity formation can adapt to the speed change of the leader UAV.