应用科学学报 ›› 2019, Vol. 37 ›› Issue (4): 551-564.doi: 10.3969/j.issn.0255-8297.2019.04.012

• 控制与系统 • 上一篇    下一篇

基于随机时延的多无人机编队控制方法

季蕾, 樊春霞   

  1. 南京邮电大学 自动化学院, 南京 210023
  • 收稿日期:2017-11-14 修回日期:2018-09-11 出版日期:2019-07-31 发布日期:2019-10-11
  • 通信作者: 樊春霞,教授,研究方向:复杂网络,E-mail:fancx@njupt.edu.cn E-mail:fancx@njupt.edu.cn
  • 基金资助:
    国家自然科学基金(No.61374180)资助

Formation Control for Multi-UAV Systems Based on Radom Time-Delay

JI Lei, FAN Chunxia   

  1. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210023, China
  • Received:2017-11-14 Revised:2018-09-11 Online:2019-07-31 Published:2019-10-11

摘要: 多无人机编队飞行时,个体之间需要进行信息交互.由于通信带宽和传送数据量等限制,个体之间交互的信息可能发生传输时延.为此,研究发生信息传输时延情况下多无人机的编队控制器设计问题.以服从Bernoulli分布的随机变量描述信息传输时延,建立Lyapunov-Krasovskii泛函,结合随机分析和Lyapunov稳定性理论推导出与无人机编队控制时延相关的稳定性条件.最后,利用数值仿真来验证所提出的多无人机编队控制方案的有效性.

关键词: 多无人机系统, 编队控制, 随机时延, Lyapunov-Krasovskii泛函

Abstract: During the flight of formatted multi-unmanned aerial vehicles, interactive communication among the individual is necessary over a communication network. In the communication, transmission time-delays may occur due to the network limits on communication bandwidth, the amount of traffic data and others. In this paper, the design problem of multi-UAVs formation control is studied based on the consideration of transmission timedelay. With a Bernoulli random variable describing the randomness of time delays, the Lyapunov-Krasovskii formula is constructed to derive the formation criterion. The multiUAV formation controller is designed on the basis of combining Lyapunov stability theory with stochastic analysis. Finally, a numerical simulation is carried out to verify the effectiveness of the proposed formation controller.

Key words: multi-unmanned aerial vehicles (UVA) system, formation control, random time-delay, Lyapunov-Krasovskii functional

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