基于图论与主从式控制理论的多无人机姿态一致性控制

Multi-UAVs Attitude Consistency Control Based on Graph Theory and Master-Slave Control Theory

为了解决多固定翼无人机姿态同步控制的问题,提出了基于图论与主从式控制理论的多无人机姿态一致性控制的算法。首先,基于飞行动力学构建了单个无人机的姿态动力学模型,在此基础上构建多固定翼无人机姿态运动的数学模型;然后,引入拓扑图来进行集群之间的信息交换,并定义了各无人机的姿态一致性误差,基于此构造了Lyapunov函数,结合稳定性及图论的相关定理,从理论上证明了选择合适的设计参数可使一致性误差收敛到足够小,实现了各无人机相对于领航者的姿态同步;最后,采用6架无人机在无向连通拓扑的条件下,通过局域信息交换的方法,对跟随领航者的主从式姿态同步控制的问题进行了相关仿真,验证了该算法的有效性。

In order to solve the problem of multi fixed-wing UAVs attitude synchronization control,an algorithm of multi-UAVs attitude consistency control based on graph theory and master-slave control theory is proposed.Firstly,the attitude dynamics model of a single UAV is constructed based on flight dynamics,and then the mathematical model of multi-fixed wing UAVs attitude motion is constructed.Then,the topology graph is introduced to exchange information among clusters,and the attitude consistency error of each UAV is defined.Based on this,the Lyapunov function is constructed,and the stability and graph theory related theorems are combined,it is theoretically proved that the consistency error can be converged to small enough to realize the attitude synchronization of each UAV relative to the leader by selecting the appropriate design parameters.In this paper,six UAVs are used to simulate the master-slave attitude synchronization control of the leader by the method of local information exchange under the condition of undirected connected topology.The effectiveness of the algorithm is verified.