联合连通拓扑条件下多无人机系统编队包含控制

肖支才; 赵学远; 周绍磊; 王帅磊

doi:doi:10.3969/j.issn.1671-637x.2020.03.006

电光与控制, 2020, 27 (3): 27, 网络出版: 2020-12-23

联合连通拓扑条件下多无人机系统编队包含控制

Formation Containment Control of Multi-UAV System Under Joint Connected Topology

论文大纲

肖支才赵学远周绍磊王帅磊

作者单位

海军航空大学, 山东烟台 264001

多无人机系统联合连通编队包含控制线性矩阵不等式 multi-UAV system joint connection formation containment control Linear Matrix Inequality (LMI)

摘要

针对联合连通拓扑条件下具有多个领导者的多无人机系统编队包含控制问题, 分别为领导者和跟随者设计分布式一致性控制器, 依据领导者和跟随者对Laplacian矩阵进行分块, 对具有有向生成树的Laplacian矩阵进行特殊分解, 将领导者的编队控制问题简化为低阶时变系统的渐近稳定性问题。定义跟随者实现包含控制误差量, 将跟随者的包含控制问题简化为时变系统的渐近稳定性问题。利用平均化方法, 将两个时变系统的渐近稳定性问题转化为两个时间平均系统的渐近稳定性问题, 借助线性矩阵不等式和Lyapunov函数给出了控制器的设计步骤, 使得多无人机系统的通信拓扑切换足够快, 多无人机系统就能在联合连通拓扑条件下实现编队包含控制。通过仿真验证, 结果表明所设计控制器的有效性。

Abstract

To solve the problem of formation containment control of multi-UAV system with several leaders under joint connected topology, distributed consensus controllers for leaders and followers are designed respectively.The Laplacian matrix is partitioned according to the leaders and followers.The Laplacian matrix with the directed spanning tree is decomposed, and the problem of formation control of the leader is simplified to the problem of asymptotic stability of the low-order time-varying system.The amount of control error is defined in the follower implementation, and the problem of containment control of the follower is simplified to the problem of asymptotic stability of the time-varying system.The averaging method is used, and the asymptotic stability of the two time-varying systems is transformed into that of two time-averaged systems.The design steps of the controller are given by using Linear Matrix Inequality (LMI) and Lyapunov function.The communication topology switching of the multi-UAV system is fast enough for the system to realize formation containment control under the condition of joint connected topology.The simulation results prove the effectiveness of the designed controller.

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肖支才, 赵学远, 周绍磊, 王帅磊. 联合连通拓扑条件下多无人机系统编队包含控制[J]. 电光与控制, 2020, 27(3): 27. XIAO Zhicai, ZHAO Xueyuan, ZHOU Shaolei, WANG Shuailei. Formation Containment Control of Multi-UAV System Under Joint Connected Topology[J]. Electronics Optics & Control, 2020, 27(3): 27.

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