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| 具有通信延迟的多无人机编队飞行控制 | |
| 引用本文： | 李少斌,陈炎财,杨忠,黄宵宁,杨成顺. 具有通信延迟的多无人机编队飞行控制[J]. 信息与控制, 2012, 41(2): 142-146 |
| 作者姓名： | 李少斌 陈炎财 杨忠 黄宵宁 杨成顺 |
| 作者单位： | 1. 南京航空航天大学自动化学院,江苏南京,210016 2. 南京航空航天大学自动化学院,江苏南京210016;中国人民解放军92118部队,浙江舟山316000 3. 南京工程学院电力工程学院,江苏南京,211167 |
| 基金项目： | 国家自然科学基金资助项目(60674100);江苏省高校自然科学基金资助项目(09KJB470002) |
| 摘 要： | 针对固定通信拓扑下的具有时变通信延迟的多无人机(multi-UAVs)系统,在一致性协议的基础上提出了分布式的编队控制算法.利用Lyapunov-Krasovskii函数分析了时延多无人机系统的稳定性,并以线性不等式(LMI)的形式给出了系统稳定的条件.当满足稳定性条件时,编队控制算法将使系统中无人机的速度和编队队形分别渐近地收敛至期望速度和期望队形.仿真实例验证了控制算法的有效性. |
| 关 键 词： | 多无人机(multi-UAVs) 编队飞行控制 一致性协议 时变通信延迟 |
Formation Fight Control of Multi-UAVs with Communication Delay |
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| LI Shaobin , CHEN Yancai , YANG Zhong , HUANG Xiaoning , YANG Chengshun. Formation Fight Control of Multi-UAVs with Communication Delay[J]. Information and Control, 2012, 41(2): 142-146 | |
| Authors: | LI Shaobin CHEN Yancai YANG Zhong HUANG Xiaoning YANG Chengshun |
| Affiliation: | 1(1.College of Automation Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China;2.Troop 92118 PLA,Zhoushan 316000,China;3.School of Electric Power Engineering,Nanjing Institute of Technology,Nanjing 211167,China) |
| Abstract: | A distributed formation control algorithm is proposed based on consensus protocol for multi-UAVs(multiunmanned aerial vehicles) system with time-varying communication delays and fixed communication network topology.System stability of multi-UAVs system with time delays is analyzed by using Lyapunov-Krasovskii function and the stability condition in terms of LMI is given.When the stability condition is satisfied,the formation control algorithm will guide the UAVs velocity vectors and the formation to asymptotically converge to the desired velocity vector and the desired formation respectively.Simulation example verifies the effectiveness of the control algorithm. |
| Keywords: | multi-unmanned aerial vehicles(multi-UAVs) formation flight control consensus protocol time-varying communication delay |
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