有向通信拓扑下的无人集群分布式编队控制

Distributed formation control of unmanned swarms under directed communication topology

摘要:

针对无人集群航行过程中编队控制需求,对编队一致性控制协议进行研究。首先,采用二阶离散运动模型对无人系统的运动学特性进行描述,提出了基于虚拟领航者思想的一致性编队控制协议。其次,采用矩阵理论对控制协议的稳定性进行了理论分析,给出了控制协议中参数设计的约束条件。然后,分析了编队控制过程中运用本文控制协议所需满足的约束条件,并阐述了控制协议参数的设计流程。最后,对所提方法的有效性进行了仿真验证,仿真结果表明,所提控制协议能够有效实现集群编队控制。

Abstract:

Aiming at the demand of formation control during unmanned swarm navigation, the formation consistency control protocol is studied. Firstly, the second-order discrete motion model is used to describe the kinematic characteristics of the unmanned system, and a coherent formation control protocol based on the idea of virtual navigator is proposed. Secondly, the stability of the control protocol is theoretically analyzed using matrix theory, and the constraints of parameter design in the control protocol are given. Then, the constraints to be satisfied by using the control protocol of this paper in the process of formation control are analyzed, and the design process of the parameters of the control protocol is described. Finally, the effectiveness of the proposed method is simulated and verified, and the simulation results show that the proposed control protocol can effectively realize swarm formation control.