带参改进一致性算法在多无人机集结任务的应用

Application of an Improved Consensus Algorithm Using a Parameter in Rendezvousing Mission of Multi-UAV

摘要:

多UAV集结是实现多UAV同时执行侦察和攻击任务的前提,是执行任务成功率最大化的根本保证；基于多智能体一致性理论的多UAV分布式协同控制已经广泛应用于多UAV协同作战中,通过一致性算法实现多UAV状态趋于一致；建立了多UAV集结问题的数学模型,基于协调变量和协调函数的分布式求解策略进行求解；改进了多智能体基本一致性算法和基于过去状态差值的一致性算法,提出了一种带参改进一致性算法,分析了算法的收敛条件；该算法提高了系统的收敛速度,缩短任务完成的时间；仿真实验验证了带参改进一致性算法的有效性和可行性。

Abstract:

Multi-UAV rendezvousing is the premise of achieving multi-UAV reconnaissance and attack missions at the same time,and is the fundamental guarantee of maximizing the mission success rate.Distributed cooperative control of multi-UAV system based on multi-agent consensus theory has been widely used in multi-UAV cooperative engagement, through the consensus algorithm,UAV state tend to be consistent.Established the mathematical model of multi-UAV rendezvousing problem,the problem was solved under the distributed solution strategy based on coordination variables and coordination functions.Improved the basic consensus algorithm and the consensus algorithm based on the past state difference,this paper proposes an improved consensus algorithm with a parameter,and the convergence condition of the algorithm is analyzed.The algorithm improve the convergence speed of the system and shorten the time of the task.Simulation results verify the effectiveness and feasibility of the improved consensus algorithm.