基于随机时延的多无人机编队控制方法

doi:10.3969/j.issn.0255-8297.2019.04.012

Abstract

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

CLC Number:

TP242.6

JI Lei, FAN Chunxia. Formation Control for Multi-UAV Systems Based on Radom Time-Delay[J]. Journal of Applied Sciences, 2019, 37(4): 551-564.

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

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