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针对无长机带领、具有固定无向通信拓扑的无人机编队构成控制问题,提出了一种基于“相邻”无人机状态反馈的分散最优控制方法。该方法采用Laplacian矩阵描述编队通信结构,以“相邻”无人机与编队构型间的相对状态误差构建分散最优控制模型,并通过求解具有LMI约束的线性目标最优化问题得到编队各无人机的分散最优控制律。该方法使得多无人机在分散协同的前提下,基于局部信息快速准确地形成预定编队构型,达到运动方向和速度的一致性。仿真实验验证了该方法的有效性。
In order to solve the problem of controllability of formation of unmanned aerial vehicle with fixed undirected communication topologies, a decentralized optimal control method based on state feedback of “adjacent ” UAV is proposed. Laplacian matrix is used to describe the communication structure of formation and the decentralized optimal control model is constructed by the relative state error between “adjacent ” UAVs and formation configuration. The optimal control model is obtained by solving the linear target optimization problem with LMI constraints Decentralized Optimal Control Law of UAVs. The method makes the multi-UAV form a predetermined formation configuration quickly and accurately based on the local information under the precondition of decentralized coordination, and achieves the consistency of the movement direction and speed. Simulation results show the effectiveness of this method.