| 具有时延及联合连通拓扑的多飞行器分布式协同编队飞行控制研究 |
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| 引用本文： | 薛瑞彬,宋建梅,张民强.具有时延及联合连通拓扑的多飞行器分布式协同编队飞行控制研究[J].兵工学报,2015,36(3):492-502. |
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| 作者姓名： | 薛瑞彬 宋建梅 张民强 |
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| 作者单位： | (北京理工大学 宇航学院， 北京 100081) |
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| 摘 要： | 针对具有简单动力学特性的多飞行器非线性系统模型，在系统存在通讯时延及网络拓扑为联合连通的情况下，提出一种基于一致性理论的分布式编队控制算法。利用Lyapunov-krasovskii函数分析具有时延的多飞行器编队系统稳定性，并以线性矩阵不等式(LMIs)的形式给出系统稳定的充分条件。通过仿真实例验证编队控制算法的有效性。研究结果表明：当通讯延迟、控制协议参数、网络拓扑等满足稳定性条件时，文中提出的编队控制算法能使多飞行器编队系统渐近收敛至期望的速度，并且形成预期的编队队形。
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| 关 键 词： | 控制科学与技术 编队控制 联合连通拓扑 多飞行器系统 时延 一致性协议 |
| 收稿时间： | 2014-04-01 |
Research on Distributed Multi-vehicle Coordinated Formation Flight Control with Coupling Time-delay and Jointly-connected Topologies |
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| XUE Rui-bin,SONG Jian-mei,ZHANG Min-qiang.Research on Distributed Multi-vehicle Coordinated Formation Flight Control with Coupling Time-delay and Jointly-connected Topologies[J].Acta Armamentarii,2015,36(3):492-502. |
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| Authors: | XUE Rui-bin SONG Jian-mei ZHANG Min-qiang |
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| Affiliation: | (School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China) |
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| Abstract: | A distributed formation control algorithm is proposed based on consensus theory for multi-vehicle nonlinear system model with simple kinetics characteristics coupling time-delay and jointly-connected topologies. System stability of multi-vehicle system with time delay is analyzed by using Lyapunov-Krasovskii function, and the stability sufficient condition in terms of LMIs is given. The simulation examples are used to verify the effectiveness of the control algorithm. When the stability condition of time delay, control parameters and network topology is satisfied, the formation control algorithm guide the multi-vehicle system asymptotically to converge to the desired velocity and shape the desired formation. |
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| Keywords: | control science and technology formation control jointly-connected topology multi-vehicle system time-delay consensus protocol |
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