通信时延下UAV/UGV混合编队控制系统的稳定性分析

Stability Analysis of UAV/UGV Hybrid Formation Control System with Communication Delay

摘要:

针对通信时延下的高维异构无人机(Unmanned Aerial Vehicle, UAV)/无人车(Unmanned Ground Vehicle, UGV)混合编队控制系统,对系统稳定的充分必要条件和准确时延边界的计算方法进行了研究。具体地,为了处置UAV/UGV工作空间、运动学模型的差异,建立考虑异构特性的UAV/UGV混合编队模型；并针对UAV群组、UGV群组,分别设计基于信息一致性的分布式控制器。利用矩阵相似变换,将高维异构的UAV/UGV混合编队控制系统降维拆分为若干等价的低维子系统,极大地降低了稳定性分析的解析难度和运算量。在此基础上,利用辅助特征函数法推导准确的时延边界,得到系统稳定的充要条件。最后通过仿真验证了所提出稳定性分析方法的有效性。

Abstract:

For the high-dimensional heterogeneous UAV (Unmanned Aerial Vehicle, UAV)/UGV (Unmanned Ground Vehicle, UGV) hybrid formation control system with the communication delay, the sufficient and necessary conditions for system stability and the accurate calculation method of delay boundary are studied. Specifically, in order to deal with the differences between the UAV/UGV workspace and the kinematics models, a UAV/UGV hybrid formation model with heterogeneous characteristics is established. For UAV and UGV groups, an information consensus based distributed controllers are designed respectively. Using the similar transformation of matrix, the high-dimensional heterogeneous UAV/UGV hybrid formation control system is split into several equivalent low-dimensional subsystems, which greatly reduces the analytical difficulty and computational complexity of stability analysis. On this basis, the auxiliary characteristic function method is used to derive the accurate time delay boundary, and the necessary and sufficient conditions for system stability are obtained. Finally, the effectiveness of proposed stability analysis is verified by simulations.