基于一致性的有限区域内紧密编队集结控制

Gathering Control of UAV Close Formation in Finite Aerial Space Based on Consensus Theory

研究解决基于一致性理论控制的多无人机紧密编队集结问题。紧密集结策略可分为松散集结和紧密集结两步。考虑无人机同时到达目标集结点和集结完毕后飞行状态一致问题,同时考虑到无人机间分布式通信拓扑结构,提出了针对不同策略的一致性算法。在松散集结阶段增加虚拟长机改进算法,在紧密集结阶段考虑延时和切换拓扑情况设计基于虚拟长机的一致性算法,对其收敛性给出了理论证明。最后对无人机集结过程进行仿真,结果表明:改进的松散集结算法具有较快收敛性,且能在一定意义上实现无人机在有限时间集结;设计的紧密集结算法在延时和拓扑切换的条件下依然保证其有效性,且能保持队型稳定。

The research solves the gathering problem of close formation of multiple UAVs based on consistency theory control.The close gathering strategy can be divided into two steps: loose gathering and close gathering.Considering the problems that the UAVs should arrive at the target point simultaneously and keep a consensus flight state after completing the gathering,and also taking the distributed communication topology used between the UAVs into account,the consistency algorithms for different strategies are proposed.In loose gathering phase,the improved algorithm based on virtual leader is added.In close gathering phase,the consistency algorithm based on virtual leader is designed considering the delay and topology switching.The convergence of algorithm is proved theoretically.Simulation is made for the UAV gathering process.The result shows that: 1) The improved loose gathering algorithm can converge rapidly,and can realize the gathering of UAVs in finite time to some extent;and 2) The close gathering algorithm is validate while keeping the formation stable in conditions of delay and topology switching.