多无人机编队控制轨迹的凸优化设计

Convex Optimization Design in Formation Control Trajectory of Multi UAV

将多无人机编队控制优化模型分解为优化层和协调层,从而将多无人机编队控制轨迹的设计转化为优化层和协调层的优化设计。首先在共有的辅助决策变量汇合点的前提下,对优化层采用对偶理论将约束问题转化为无约束问题,进而利用最优必要条件求解最优的控制输入信号值。对协调层关于辅助变量汇合点的设计,可采用凸算法中的梯度投影策略,并分析该梯度投影算法的收敛性。最后用仿真算例验证该方法的有效性。

The multi UAV formation control optimization model is decomposed into the optimization layer and coordination layer. Then the problem of how to design the multi UAV formation control trajectory can be converted to design the optimization layer and coordination layer. Firstly when the common auxiliary decision variable is known, the dual theory is used to tranform the former constrained optimization problem into a un constrained optimi- zation problem in the optimization layer. So the optimum necessary condition is applied to obtain the control input signal.. To design the auxiliary decision variable, the gradient projection method can be applied in the coordination layer and the convergence of this method is also analysized. Finally, the efficiency of the proposed strategy can be confirmed by the simulation example results.