随机时延下无角速度测量的无人机姿态同步

Attitude synchronization of UAV without angular velocity measurement with random delay

文中考虑信息传输时延随机发生的情况,采用Bernoulli随机分布描述时延的随机发生,提出了无角速度测量下无人机的姿态同步设计方案。考虑不用角速度作为反馈量,使用基于虚拟系统的方法进行处理,为群中每个无人机设计一个虚拟系统,为各个无人机生成一个中间姿态参考轨迹,将无人机与之相关联,设计控制输入,使得各个无人机跟踪其相应的虚拟系统,同时所有虚拟系统同步它们的姿态。在固定且无向的通信拓扑下,仿真结果显示在不同时延概率下实现了无人机在无角速度测量下的无主式和主从式姿态同步。

The attitude synchronization scheme for unmanned aerial vehicle(UAV) without angular velocity measurement is proposed when the information transmitted between UAVs is randomly delayed by using Bernoulli random distribution to describe the random occurrence of delays.A virtual system-based approach is used to realize attitude synchronization of UAVs because the angular velocity is not used as the feedback amount.A virtual system is designed for each UAV and generates an intermediate attitude reference trajectory for each UAV in the group.The UAV is associated with a virtual system and the control inputs are made so that each UAV tracks its corresponding virtual system,while all virtual systems synchronize their attitudes.In a fixed and undirected communication topology,simulation results show that UAVs can achieve the leaderless and leader-follower attitude synchronization on the different delay probabilities without angular velocity measurement.