摘要
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.
出处
《物理学报》
SCIE
EI
CAS
CSCD
北大核心
2015年第10期21-27,共7页
Acta Physica Sinica
基金
中国航空科学基金(批准号:20135896027)资助的课题~~
关键词
无人机
自主协同系统
稳定机理
autonomous cooperative system, unmanned aerial vehicle, stable mechanism