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兵工学报  2015 

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

DOI: 10.3969/j.issn.1000-1093.2015.03.017, PP. 492-502

Keywords: 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

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Abstract:

?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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