切换拓扑下无人机集群系统时变编队控制

摘要

Trajectory tracking and time-varying formation control of unmanned aerial vehicle (UAV) swarm systems with switching interaction topologies are investigated.The UAV is modelled by a second-order integrator system.Based on the consensus method,protocols are proposed to transform the formation problem into a stability problem.The average dwell time of switching topologies is introduced,and an algorithm for the design of the gain matrix of the protocol is given by solving a linear matrix inequality (LMI).It is proven by constructing a piecewise continuous Lyapunov function that the trajectory tracking and time-varying formation can be achieved by the protocol proposed.Simulation of a swarm system consisting of four UAVs moving in the three dimensional space is conducted,and simulation results demonstrate that the trajectory tracking and time-varying formation for UAVs with switching topologies can be solved by the method proposed.%针对多无人机(UAV)间通信拓扑可能发生变化的情况,研究了具有二阶积分特性的无人机集群系统的轨迹跟踪与时变编队控制问题.基于一致性方法设计了编队控制器,将编队控制问题转换成闭环系统的稳定性问题,引入了切换拓扑平均驻留时间的概念,并在此基础上利用线性矩阵不等式(LMI)方法,给出了控制器设计步骤.通过构造分段连续Lyapunov函数,证明了切换拓扑下无人机集群系统能够实现对指定轨迹的跟踪并且实现时变编队飞行.以三维空间运动的无人机集群系统为例进行了仿真验证,结果表明本文所提方法能够解决切换拓扑下无人机集群系统的轨迹跟踪与时变编队问题.