具有通信延迟的多无人机编队飞行控制

Formation Fight Control of Multi-UAVs with Communication Delay

  • 摘要: 针对固定通信拓扑下的具有时变通信延迟的多无人机(multi-UAVs)系统,在一致性协议的基础上提出了分布式的编队控制算法. 利用Lyapunov-Krasovskii函数分析了时延多无人机系统的稳定性,并以线性不等式(LMI)的形式给出了系统稳定的条件. 当满足稳定性条件时,编队控制算法将使系统中无人机的速度和编队队形分别渐近地收敛至期望速度和期望队形. 仿真实例验证了控制算法的有效性.

     

    Abstract: A distributed formation control algorithm is proposed based on consensus protocol for multi-UAVs (multi-unmanned aerial vehicles) system with time-varying communication delays and fixed communication network topology. System stability of multi-UAVs system with time delays is analyzed by using Lyapunov-Krasovskii function and the stability condition in terms of LMI is given. When the stability condition is satisfied, the formation control algorithm will guide the UAVs velocity vectors and the formation to asymptotically converge to the desired velocity vector and the desired formation respectively. Simulation example verifies the effectiveness of the control algorithm.

     

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