基于状态估计的多机编队保持技术研究

针对工程中通信带宽有限的情况,研究了基于TDMA网络的多无人机编队控制发散问题,通过将网络通信时延转变为具有时变异步时延的切换拓扑网络一致性收敛问题,设计了一种基于状态估计的多机编队控制协议。通过卡尔曼滤波器对通信时刻编队内无人机状态进行估计,解决了协议中状态信息时刻不一致导致的编队发散问题,适用于TDMA组网的大规模编队控制。最后数值仿真结果表明该控制协议能够有效抑制网络中异步时延对多机编队保持精度的影响,提高了多机协同编队保持控制的稳定性。

Coordinated Formation Control for Multiple UAVs Based on State Estimation

Coordinated formation control problem based on TDMA(Time Division Multiple Access)network for multiple UAVs is studied, in which the communication bandwidth is limited in engineering. By establishing a model for the communication delay in the network, the problem can be converted into a consensus control problem. A formation control protocol based on state estimation is proposed and is suitable for large-scale formation control of TDMA network. By using Kalman filter to estimate the status of UAVs in the formation at communication time, the problem of formation divergence caused by inconsistent status information can be solved. Finally, the results of numerical simulations are presented to demonstrate the effectiveness of the proposed control protocol, which can effectively suppress the influence of asynchronous time delay on the maintenance accuracy of multiple UAVs formation and improve the stability of cooperative formation maintenance control.