异构多无人机网络化协同控制系统的可控性

Controllability of heterogeneous networked systems for multiple unmanned aerial vehicles

研究具有Leader-Follower结构和分布式通信拓扑的异构多无人机网络化分布式协同控制系统的可控性问题.基于同构网络的受控一致性思想建立了异构多飞行器网络控制系统的动态模型;并针对该动态模型的不同形式,基于代数图论和传统的控制理论,分别得到了异构多无人机网络化协同控制系统的可控性条件,尤其是可控性与该网络化系统中通信拓扑之间的关系;然后分析且提出了改善系统可控性的可行性方法.最后仿真结果验证了本文相关结论的正确性.

We investigate the controllability of heterogeneous networked systems for multiple unmanned aerial vehicles （UAV） which are distributed-cooperatively controlled in the leader-follower configuration and with the local distributed communication topology. On the basis of the homogeneous networked control consistency, the dynamic models of the multi-UAV networked systems are obtained. The algebraic graph theory and the traditional control theory are respec- tively applied to each form of dynamic models for obtaining the controllability condition, and the relations between the controllability and the communication topology in the networked systems. Feasible methods for improving the system controllability are also analyzed and presented. Finally, numerical examples are provided to illustrate the correctness of the proposed methods.