有向切换通信拓扑下多无人机分布式编队控制
Distributed formation control for multiple unmanned aerial vehicles with directed switching communication topologies

本文对多无人机分布式时变编队控制问题进行了研究. 无人机之间的通信拓扑假定是有向和切换的. 基于 自身状态与邻居状态的相对局部信息构建了分布式编队控制器. 通过引入一个恰当的编队误差向量, 将有向切换 通信拓扑下的多无人机编队问题转化为一个切换系统的镇定问题. 基于Lyapunov稳定性分析方法得到了达成编队 的充分性条件. 仿真实验结果验证了结论的有效性.
We investigate the time-varying formation problem for unmanned aerial vehicles. The communication topology is assumed to be directed and switching. Distributed formation controllers are proposed using only relative state information of neighboring agents. By constructing a proper formation error vector, we convert the formation problem with switching communication topologies into a stabilization problem of a switched system. Sufficient conditions are obtained using common Lyapunov approach. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical results.