基于虚拟参考中心策略的无人机编队控制算法

UAV Formation Control Algorithm Based on Virtual Reference Center Strategy

基于虚拟参考中心策略解决了有向通信网络结构下的无人机编队协同控制问题,为具有权重不平衡有向通信网络的多无人机系统设计了合适的连续时间编队控制算法,使多无人机协作达到编队,并使得全局目标函数达到最小值。利用李雅普诺夫稳定性理论证明了该算法能使各无人机移动路径总和最短,协同实现全局最优编队。

Based on the virtual reference center strategy,the problem of coordinated control of UAV formation in a directed communication network structure was solved.A suitable continuous time formation control algorithm was designed for a multi-UAV system with imbalanced weights in a directed communication network,enabling multi-UAV cooperation to achieve formation and minimizing the global objective function.Using the Lyapunov stability theory,it has been proven that the improved algorithm can make the total movement path of each drone the shortest and achieve the global optimal formation in collaboration.