有向通信拓扑下海上无人集群分布式编队控制

Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology

[目的]为解决海上无人集群在有向通信拓扑条件下的编队控制问题,对无人艇(USV)和无人机(UAV)集群编队跟踪控制问题进行研究。[方法]采用内/外环分层编队控制结构进行系统建模,利用离散时间系统对海上无人集群编队控制问题进行描述,以提高编队控制方法对异构集群的兼容性和实用性。基于虚拟领航者思想,采用基于邻居位置和速度误差反馈的分布式编队控制协议,给出海上无人集群能够实现期望构型和航迹跟踪的充要条件。[结果]仿真结果表明,当通信拓扑存在有向生成树,且在控制协议参数和控制器更新周期满足给定约束条件的情况下,海上无人集群能够实现稳定的编队控制。[结论]所提方法能够适用于海上无人集群在有向通信拓扑条件下的编队控制,具有一定的应用价值。

[Objectives]In order to realize the formation control of swarms of unmanned marine vehicle(UMV)with directed interaction topology,the formation tracking control of unmanned surface vehicle(USV)and unmanned aerial vehicle(UAV)swarms is studied.[Methods]An inner/outer loop layered control structure of formation is adopted to model the system,and the discrete-time system is used to describe the formation control problem of UMV swarms,improving the compatibility and practicability of the method for heterogeneous swarms.Based on the idea of a virtual leader,a distributed formation control protocol based on neighbor position and velocity error feedback is adopted,and the necessary and sufficient conditions for UMV swarms to realize the desired configuration and path tracking are given.[Results]The simulation results show that UMV swarms can achieve stable formation control when there is a directed spanning tree in the interaction topology,and the parameters of the control protocol and discrete time period meet the given constraints.[Conclusions]This method has application value in the formation control of UMV swarms with directed interaction topology.