多无人机同时到达的分散化控制方法

Decentralized Control for Simultaneous Arrival of Multiple UAVs

多无人机(UAV)同时到达是典型的协同控制问题,在编队飞行、协同攻击中都有应用。以多无人机协同多目标攻击为应用背景,对多无人机同时到达问题进行了研究。考虑到战场环境的动态性和不确定性以及无人机自身的特点,提出一种适用于多无人机同时到达的分散化控制方法,其内容包括仅依靠局部信息交互的分散化控制结构和基于一致性算法的分散化控制策略。为方便操作员控制无人机群体的整体行为,分别设计了引入外部参考信号和虚拟Leader的分散化控制策略。根据路径规划和速度控制的不同特点将二者结合起来,利用它们的互补优势来应对路径误差和突发威胁等不利因素的影响。仿真结果表明,本文提出的分散化控制方法能够实现多无人机同时到达,并且具有很好的灵活性、鲁棒性、可靠性和可伸缩性。

As a typical cooperative control problem,simultaneous arrival of multiple unmanned aerial vehicles （UAVs） finds its application in formation flight,cooperative attack,etc. In this article,simultaneous arrival of multiple UAVs is investigated for such applications as coordinated target intercept by multiple UAVs. Considering the characteristics of changing battlefield and the limitations of UAVs,a decentralized control method is presented,which consistes of a decentralized control architecture relying only on local information interactions and decentralized control strategies based on consensus algorithms. Decentralized control strategies with an external reference signal and a virtual leader which have been introduced respectively are provided for operators to control the motion of UAVs as a whole. Path planning and velocity control are combined to weaken the influence of path error and pop-up threats. Simulation results show that the simultaneous arrival of multiple UAVs can be realized with excellent flexibility,robustness,reliability and scalability by the proposed decentralized control method.