间歇通信条件下多无人机保性能编队追踪控制

doi:10.12305/j.issn.1001-506X.2021.11.29

系统工程与电子技术 ›› 2021, Vol. 43 ›› Issue (11): 3288-3294.doi: 10.12305/j.issn.1001-506X.2021.11.29

间歇通信条件下多无人机保性能编队追踪控制

权婉珍¹, 罗哲¹, 杨小冈^1,*, 韩心中², 席建祥¹

1. 火箭军工程大学导弹工程学院, 陕西西安 710025
2. 火箭军研究院, 北京 100080

收稿日期:2021-01-29 出版日期:2021-11-01 发布日期:2021-11-12
通讯作者: 杨小冈
作者简介:权婉珍(1991—), 女, 博士研究生, 主要研究方向为多智能体协同控制、无人机编队|罗哲(1987—), 男, 博士研究生, 主要研究方向为多飞行器协同控制|杨小冈(1978—), 男, 教授, 博士, 主要研究方向为图像识别与智能化精确制导技术、多智能体协同控制、无人机编队|韩心中(1981—), 男, 助理研究员, 硕士，主要研究方向为无人机编队控制|席建祥(1981—), 男, 教授, 博士, 主要研究方向为多智能体协同控制、无人机编队
基金资助:
国家自然科学基金(61703411);国家自然科学基金(61806209);国家自然科学基金(61773387)

Guaranteed-performance formation tracking control of multi-UAVswith intermittent communication

Wanzhen QUAN¹, Zhe LUO¹, Xiaogang YANG^1,*, Xinzhong HAN², Jianxiang XI¹

1. College of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China
2. Academy of the Rocket Force, Beijing 100080, China

Received:2021-01-29 Online:2021-11-01 Published:2021-11-12
Contact: Xiaogang YANG

摘要/Abstract

摘要：

针对多无人机系统在通信链路非周期性中断情况下的优化编队控制问题, 提出了一种多无人机保性能编队追踪控制方法。首先, 引入一种分布式性能指标, 用于描述多无人机系统编队调节性能。然后, 设计了间歇型多无人机编队追踪控制器, 可在通信时段根据无人机间局部交互信息构建分布式反馈控制, 并在中断时段中止对无人机的编队追踪控制, 以应对间歇通信的影响。同时, 获得了间歇通信条件下多无人机保性能编队追踪控制判据, 确定了多无人机系统的保性能上界。最后, 通过仿真算例验证了理论结果的有效性。

关键词: 多无人机编队, 间歇通信, 保性能, 追踪控制

Abstract:

Aiming at the problem of optimized formation control, multi-unmanned aerial vehicles (UAVs) formation tracking control method with guaranteed performance is proposed. Firstly, a distributed performance indicator is introduced to describe the formation regulation performance of multi-UAVs systems. Then, an intermittent communication-type multi-UAVs formation tracking controller is designed, which can build distributed feedback control basing on the local interaction information amongst UAVs during the communication period and cut off the control input during the interruption period to eliminate the influence to the intermittent communication. Then, the multi-UAVs guaranteed-performance time-varying formation tracking control criterion under intermittent communication conditions is obtained and an upper bound of the guarantee performance for the multi-UAVs systems is determined. Finally, the validity of the theoretical results is verified by a simulation example.

Key words: multi-UAVs formation, intermittent communication, guaranteed performance, tracking control

中图分类号:

权婉珍, 罗哲, 杨小冈, 韩心中, 席建祥. 间歇通信条件下多无人机保性能编队追踪控制[J]. 系统工程与电子技术, 2021, 43(11): 3288-3294.

Wanzhen QUAN, Zhe LUO, Xiaogang YANG, Xinzhong HAN, Jianxiang XI. Guaranteed-performance formation tracking control of multi-UAVswith intermittent communication[J]. Systems Engineering and Electronics, 2021, 43(11): 3288-3294.

图/表 6

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间歇通信条件下多无人机保性能编队追踪控制

Guaranteed-performance formation tracking control of multi-UAVswith intermittent communication

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