一种基于应力矩阵的无人机集群队形变换控制方法

Formation transformation control of UAV swarm based on stress matrix

针对复杂环境下无人机集群队形变换与编队控制问题,提出一种可抑制外部干扰的无人机集群队形变换策略,设计基于滑模的编队控制方法.首先,考虑无人机集群中存在多个领导者,提出一种“双层领导者-跟随者”无人机集群协同队形变换控制策略,实现障碍环境下的编队队形变换;然后,基于图论、一致性理论和滑模控制理论设计针对无人机集群存在外部干扰条件下的从机时变编队控制律,能够实现无人机编队按几何参数和几何图案连续变化;其次,通过构造Lyapunov函数证明在扰动条件下多领导者无人机集群系统队形变换的稳定性;最后,利用数值仿真验证所提出队形变换控制方法的有效性.

For the problem of unmanned aerial vehicle(UAV)swarm transformation and formation control in complex environments,the UAV swarm formation transformation strategy is proposed to suppress external interference,and a formation sliding mode control method is designed.Firstly,considering the existence of multiple leaders in the UAV swarm,a“double layer leader-follower”UAV swarm cooperative formation transformation control strategy is proposed to achieve formation transformation in complex environments.Secondly,based on graph theory,consensus theory and sliding mode control theory,a time-varying follower formation control law is designed for the UAV swarm under the condition of external disturbances,which can achieve continuous changes of UAV formation geometry parameters and geometric patterns.Thirdly,the stability of the formation transformation of the multi-leader UAV system under the disturbance condition is demonstrated using the Lyapunov function method.Finally,numerical simulations are used to verify the effectiveness of the formation transformation control method.