带领导者和不同时滞的多无人机系统编队控制

摘要

Based on consistency theory of Multi-agent systems with time-delay,the formation control problem is studied for multi-UAVs system with one leader and different time-delay.Control protocol of the system is Improved,it make multi-UAVs sys?tem in the case of a few information to ensure consensus.In the network with switching topology,the time domain linear matrix in?equality(LMI)method is employed,suffcient condition in terms of LMI is derived to ensure consensus of second order multi-UAVs system,which can provide the allowable upper bound of time-delay.Further communication time-delay among unmanned aerial ve?hicles is equal to communication time-delay between unmanned aerial vehicle and the leader that condition is discussed,and a sim?ulation example is provided to show the effectiveness of controllers design.%基于多智能体系统时滞一致性理论,对有领导者和不同时滞的多无人机系统编队控制问题进行研究,改进了系统的控制协议,使多无人机系统在获得很少信息的情况下就能实现一致.在变拓扑网络结构下,采用时域LMI方法得到不同时滞二阶多无人机系统达到一致的充分条件,通过解线性矩阵不等式得到了时滞的最大容许值.进一步,对无人机间通信时滞和无人机与领导者间通信时滞相同的情况加以讨论,并通过仿真实验验证了控制器设计的有效性.