摘要
为实现存在时变通信时延与自时延情况下多无人机的编队控制,利用分散化控制策略与分层控制结构并结合一种带时变参考值的leader-following一致性算法设计状态估计器估计加速度信息和编队控制器使编队保持给定的队形。通过构造Lyapunov函数,获得了无人机编队系统实际位置与期望位置误差收敛到0的充分条件。利用线性矩阵不等式(LMI)给出了时延的上界。最后通过仿真实例实现了无人机编队飞行与保持,表明了方法的正确性与有效性。
In order to achieve the formation control of Unmanned Aerial vehicle （UAVs） with time-varying communication and self delay, by using the decentralization strategy and a level control structure, a leader-following consensus protocol with time-varying communication and self delay was proposed. By employing Lyapunov method, it can be proven that the deviation of UAV＇s actual position and desired position can converge to 0 asymptotically and the Linear Matrix Inequality （LMI） is obtained to determine the maximal allowable upper bounds of delays. The consensus protocol with time-varying reference values was applied as an estimator to estimate the acceleration and a controller to keep the desired formation. Simulation results are given to demonstrate the effectiveness of the proposed method.
出处
《计算机应用》
CSCD
北大核心
2014年第A01期151-155,共5页
journal of Computer Applications
基金
国家自然科学基金资助项目(61333004)
