基于虚拟参考中心策略的无人机编队控制算法
UAV Formation Control Algorithm Based on Virtual Reference Center Strategy
杨正全 1马乐然 1高志云1
作者信息
- 1. 中国民航大学交通科学与工程学院,天津 300300
- 折叠
摘要
基于虚拟参考中心策略解决了有向通信网络结构下的无人机编队协同控制问题,为具有权重不平衡有向通信网络的多无人机系统设计了合适的连续时间编队控制算法,使多无人机协作达到编队,并使得全局目标函数达到最小值.利用李雅普诺夫稳定性理论证明了该算法能使各无人机移动路径总和最短,协同实现全局最优编队.
Abstract
Based on the virtual reference center strategy,the problem of coordinated control of UAV formation in a directed communication network structure was solved.A suitable continuous time formation control algorithm was designed for a multi-UAV system with imbalanced weights in a directed communication network,enabling multi-UAV cooperation to achieve formation and minimizing the global objective function.Using the Lyapunov stability theory,it has been proven that the improved algorithm can make the total movement path of each drone the shortest and achieve the global optimal formation in collaboration.
关键词
编队控制/有向网络/分布式算法/权重不平衡Key words
formation control/directed network/distributed algorithm/weight imbalance引用本文复制引用
基金项目
国家自然科学基金面上项目(62173332)
出版年
2024
NETL
NSTL
万方数据