有向拓扑下多无人机系统编队跟踪控制

Multi-UAV System Formation Tracking Control Under Directed Topology

针对分布式群系统编队控制问题,提出一种有向拓扑条件下的分布式编队控制方法。首先,通过在控制协议中引入辅助函数,利用变量代换,将编队控制问题简化为自治系统的稳定性问题,使得复杂的控制问题简单化。其次,通过求解线性矩阵不等式设计控制增益矩阵,形式简单,求解复杂度低。然后借助李雅普诺夫方法分析系统的稳定性。仿真实验表明,多无人机系统在分布式控制协议下,能够有效实现编队跟踪控制。

Aiming at the formation control problem of distributed swarm systems,a distributed formation control method under the condition of directed topology is proposed.Firstly, by introducing auxiliary functions into the control protocol and using variable substitution,the formation control problem is simplified to the stability problem of the autonomous system,which simplifies the complex control problem.Secondly,the control gain matrix is designed by solving linear matrix inequality,which is simple in form and low in complexity.Then the stability of the system is analyzed by Lyapunov method.The simulation results show that the multi-UAV system can effectively realize formation tracking control under the distributed control protocol.