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| 基于一致性的无人机编队飞行几何构型控制 |
| Consensus-based control method for geometrical configuration of UAVs formation flight |
| 投稿时间：2018-10-09 |
| DOI： |
| 中文关键词: 无人机 编队飞行 几何构型 一致性 协同控制 |
| 英文关键词: UAV formation flight geometrical configuration consensus cooperative control |
| 基金项目:湖北省教育厅科学研究计划重点项目(D20171101). |
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| 中文摘要: |
| 本文研究群体无人机系统编队飞行中的几何构型控制问题。采用一阶运动学模型进行系统描述,用有向图来表示其通信网络结构,将领导者-跟随者控制结构和一致性跟踪理论相结合,提出了一种协同控制算法,在不需要每台无人机都能接收到领导者状态信息的情况下,使无人机在编队飞行过程中改变几何构型的同时还可以相应改变行进方向。最后通过仿真验证了该控制算法的有效性。 |
| 英文摘要: |
| This paper studied the geometrical configuration control method for the formation flight of group unmanned aerial vehicle (UAV) system. The first-order kinematic model was applied to the system description and a directed graph was used to simulate its communication network. On the basis of leader-follower control structure and consensus-based tracking theory, a cooperative control algorithm was presented, by which the UAVs could also change their heading directions in the process of transforming the geometrical configuration of formation flight, and it was not necessary for every UAV to receive the leader’s status information. Finally, the validity of the proposed control algorithm was verified by simulations. |
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