自主协同系统的宏观稳定机理研究

Macroscopic stable mechanism of autonomous cooperative system

为保证自主协同机群的内聚性,实现多机的有效沟通和协作,借鉴蜂王信息素机理,抽象出跟踪型多无人机自主协同系统的宏观运动特征.通过构造Lyapunov函数,分析该系统的稳定性,进而得到系统的稳定性判据.仿真结果表明:本文所提的稳定控制机理不仅能够保证自主协同系统的稳定性,还能够通过调整相关控制参数有效地控制系统规模.

The cohesiveness of autonomous cooperative system is the basis of achieving the effective communication and cooperation among the multiple vehicles. Therefore, the biosphere mechanism of queen mandibular pheromone is used for reference in this paper, to abstract the macro motion characteristic of multiple unmanned aerial vehicles autonomous cooperative tracking system. Then, some Lyapunov functions are constructed to analyze the stability of this system, thus obtaining its judgment criterion of stability. Finally, the simulation is given to verify the effectiveness of the proposed stable mechanism. The results show that the proposed stable mechanism not only can ensure the stability of autonomous cooperative system, but also can control the scale of this system effectively by adapting some relevant control parameters.