计算机科学 ›› 2020, Vol. 47 ›› Issue (6A): 577-582.doi: 10.11896/JsJkx.190700064

• 交叉&应用 • 上一篇    下一篇

切换拓扑条件下的多无人机系统编队包含控制

赵学远, 周绍磊, 王帅磊, 闫实   

  1. 海军航空大学 山东 烟台 264001
  • 发布日期:2020-07-07
  • 通讯作者: 赵学远(1607527622@qq.com)
  • 基金资助:
    国防科技项目

Formation Containment Control of Multi-UAV System Under Switching Topology

ZHAO Xue-yuan, ZHOU Shao-lei, WANG Shuai-lei and YAN Shi   

  1. Naval Aeronautical University of PLA,Yantai,Shangdong 264001,China
  • Published:2020-07-07
  • About author:ZHAO Xue-yuan, born in 1995, postgraduate.His main research interests include the consensus theory of multi-agent and formation control.
  • Supported by:
    This work was supported by the Defence Science and Technology ProJect Foundation of China.

摘要: 针对切换拓扑条件下的多无人机系统编队包含控制问题,基于一致性算法设计了分布式控制器,通过变量代换将领导者的编队控制问题先转化为一致性问题,再通过对Laplacian矩阵的特殊分解,将一致性问题简化为低阶系统的渐进稳定性问题;通过具有多领导者的Laplacian矩阵性质,将跟随者的包含控制问题转化为渐进稳定性问题。文中给出切换拓扑平均驻留时间概念,结合线性矩阵不等式和Lyapunov函数给出了一致性控制器的设计步骤,并证明了在所设计的控制器作用下,切换拓扑图条件下的多无人机系统能够实现编队包含状态飞行。在三维空间中对多无人机系统系统进行仿真验证,结果表明所设计的一致性控制器解决了切换拓扑条件下的多无人机系统编队包含控制问题。

关键词: Lyapunov函数, 编队包含控制, 多领导者, 多无人机系统, 线性矩阵不等式, 一致性

Abstract: To solve the formation containment control problem of multi-UAV system under switching topology,a distributed controller based on consistency algorithm was designed.The formation control problem of leader was transformed into consensus problem by variable substitution.Then,by the special decomposition of Laplacian matrix,the consensus problem was simplified to the asymptotic stability problem of low-order systems.Through the Laplacian matrix property with multi-leaders,the follower’s containment control problem was transformed into an asymptotic stability problem.The concept of average dwell time of switching topology was given.Combining linear matrix inequalities and Lyapunov functions,the design steps of the consensus controller were given.It is also proved that the multi-UAV system with switching topology can achieve formation containment state flight under the action of the designed controller.Simulation results of multi-UAV system in three-dimensional space show that the designed consensus controller solves the problem of formation containment control of multi-UAV system under switching topology.

Key words: Consensus, Formation containment control, Linear matrix inequalities, Lyapunov function, Multi-leader, Multi-UAV system

中图分类号: 

  • V249.122
[1] GUANG M X,LONG W.Moving formation convergence of a group of mobile robots via decentralised information feedback.International Journal of Systems Science,2009,40(10):9.
[2] WANG J,NIAN X H.Consensus and formation control of discrete-time multi-agent systems.Journal of Central South University,2011,18(4):1161-1168.
[3] ZHOU S L,QI Y H,ZHANG L,et al.Time-varying formation control of UAVswarm systems with switching topologies.Journal of Aeronautics,2016,38(4):259-267.
[4] 杨建平,胡江平,吕维.基于事件触发机制的智能车编队控制.控制工程,2019,26(3).
[5] CAO J,WU Z,PENG L.Distributed Event-Triggered Consensus Tracking of First-Order Multi-Agent Systems with a Virtual Leader.Chinese Physics B,2016,25(5):58902.
[6] CHENG L L,YU P T.Formation control of multi-agent systems with heterogeneous communication delays.Internatio-nal Journal of Systems Science,2009,40(6):627-636.
[7] LI Z,WEI R,LIU X,et al.Distributed containment control of multi-agent systems with general linear dynamics in the pre-sence of multiple leaders.International Journal of Robust & Nonlinear Control,2013,23(5):534-547.
[8] MENG Z,WEI R,ZHENG Y.Distributed finite-time attitude containment control for multiple rigid bodies.Automatica,2010,46(12):2092-2099.
[9] DONG X,LI Q,ZHANG R,et al.Formation-containment control for high-order linear time-invariant multi-agent systems with time delays.Journal of the Franklin Institute,2015,352(9):3564-3584.
[10] WEI R,ATKINS E.Distributed multi-vehicle coordinated control via local information exchange.International Journal of Robust & Nonlinear Control,2010,17(10/11):1002-1033.
[11] WEI L,ZHOU S,SHI Y,et al.LQR_based Consensus Algo-rithms of Muti-agent Systems with a Prescribed Convergence Speed//Proceedings of 2014 IEEE Chinese Guidance,Navigation and Control Conference.IEEE,2014.
[12] WEI L,ZHOU S,QI Y,et al.Leaderless consensus of multi-agent systems with Lipschitz nonlinear dynamics and switching topologies.Neurocomputing,2015,173:1322-1329.
[13] MENG Z,WEI R,ZHENG Y.Distributed finite-time attitude containment control for multiple rigid bodies .Automatica,2010,46(12):2092-2099.
[1] 周慧, 施皓晨, 屠要峰, 黄圣君.
基于主动采样的深度鲁棒神经网络学习
Robust Deep Neural Network Learning Based on Active Sampling
计算机科学, 2022, 49(7): 164-169. https://doi.org/10.11896/jsjkx.210600044
[2] 靳利贞, 李庆忠.
基于接缝一致性准则的结构纹理图像快速合成算法
Fast Structural Texture Image Synthesis Algorithm Based on Seam ConsistencyCriterion
计算机科学, 2022, 49(6): 262-268. https://doi.org/10.11896/jsjkx.210400039
[3] 许华杰, 陈育, 杨洋, 秦远卓.
基于混合样本自动数据增强技术的半监督学习方法
Semi-supervised Learning Method Based on Automated Mixed Sample Data Augmentation Techniques
计算机科学, 2022, 49(3): 288-293. https://doi.org/10.11896/jsjkx.210100156
[4] 刘意, 毛莺池, 程杨堃, 高建, 王龙宝.
基于邻域一致性的异常检测序列集成方法
Locality and Consistency Based Sequential Ensemble Method for Outlier Detection
计算机科学, 2022, 49(1): 146-152. https://doi.org/10.11896/jsjkx.201000156
[5] 夏中, 向敏, 黄春梅.
基于CHBL的P2P视频监控网络分层管理机制
Hierarchical Management Mechanism of P2P Video Surveillance Network Based on CHBL
计算机科学, 2021, 48(9): 278-285. https://doi.org/10.11896/jsjkx.201200056
[6] 赵潇, 李仕林, 李凡, 余正涛, 张林华, 杨勇.
局部细粒度信息引导的双循环一致性绝缘子缺陷样本生成
Double-cycle Consistent Insulator Defect Sample Generation Method Based on Local Fine-grainedInformation Guidance
计算机科学, 2021, 48(6A): 581-586. https://doi.org/10.11896/jsjkx.200500026
[7] 郭文, 尹童灵, 张天柱, 徐常胜.
时间一致性保持的多任务稀疏深度表达视觉跟踪
Temporal Consistency Preserving Multi-Mask Sparse Deep Representation for Visual Tracking
计算机科学, 2021, 48(6): 110-117. https://doi.org/10.11896/jsjkx.200800212
[8] 黄鑫权, 刘爱军, 梁小虎, 王桁.
基于矩阵论的一致性控制算法收敛速度分析
Matrix Theory Aided Convergence Analysis of Consensus Behavior in FANET with Beacon Loss
计算机科学, 2021, 48(6): 288-295. https://doi.org/10.11896/jsjkx.201000137
[9] 高枫越, 王琰, 朱铁兰.
有适应力的分布式状态估计方法
Resilient Distributed State Estimation Algorithm
计算机科学, 2021, 48(5): 308-312. https://doi.org/10.11896/jsjkx.200300117
[10] 张子良, 庄毅, 叶彤.
基于元模型的协同建模模型组装与更新方法
Cooperative Modeling Model Combination and Update Method Based on Meta-model
计算机科学, 2021, 48(12): 67-74. https://doi.org/10.11896/jsjkx.201100024
[11] 欧阳鹏, 陆璐, 张凡龙, 邱少健.
基于迁移学习和过采样技术的跨项目克隆代码一致性维护需求预测
Cross-project Clone Consistency Prediction via Transfer Learning and Oversampling Technology
计算机科学, 2020, 47(9): 10-16. https://doi.org/10.11896/jsjkx.200400041
[12] 李笑宇,高清维,卢一相,孙冬.
一种根据图像能量调整的图像融合方法
Image Fusion Method Based on Image Energy Adjustment
计算机科学, 2020, 47(1): 153-158. https://doi.org/10.11896/jsjkx.181202437
[13] 陈静, 舒强, 谢昊飞.
基于故障定位的测试用例优先排序方法
Priority Ranking Method of Test Cases Based on Fault Location
计算机科学, 2019, 46(8): 239-243. https://doi.org/10.11896/j.issn.1002-137X.2019.08.039
[14] 徐耀丽, 李战怀.
基于概率推断的质量控制智能体
Quality Control Agent Based on Probability Inference
计算机科学, 2019, 46(4): 8-13. https://doi.org/10.11896/j.issn.1002-137X.2019.04.002
[15] 张森, 刘文奇, 赵宁.
复杂网络上多智能体系统的一致性研究
Research of Consensus in Multi-agent Systems on Complex Network
计算机科学, 2019, 46(4): 95-99. https://doi.org/10.11896/j.issn.1002-137X.2019.04.015
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!