联合连通拓扑下多无人机编队控制

Formation Control of Multi-UAV with Jointly Connected Topology

关键词:  多无人机  时变编队  联合连通  线性矩阵不等式

Key words:  Multi-UAV  Time-varying formation  Jointly connected topology  LMI

摘要:

针对在联合连通拓扑条件下的多无人机系统，研究了具有二阶动力学系统模型的多无人机系统时变编队控制问题。基于一致性理论，设计了一致性控制器，将联合连通拓扑条件下的编队控制问题简化为低阶时间平均系统的渐进稳定性问题。利用Lyapunov函数证明了所设计的控制器能够实现编队控制，并利用线性矩阵不等式(LMI)方法给出了控制器的设计算法。在三维空间中，对多无人机系统进行了仿真，验证了所设计的一致性控制器能够使得多无人机系统在联合连通拓扑条件下形成时变编队。

Abstract:

The time-varying formation control of multi-UAV system with second-order dynamic system model is studied under the condition of jointly connected topology. Based on consistency theory, a consensus controller is designed. The formation control problem under jointly connected topology is simplified to the asymptotic stability problem of low-order time-averaged systems. The Lyapunov function is used to prove that the designed controller can realize formation control. The design algorithm of the controller is given by using linear matrix inequality (LMI) method. In the three-dimensional space, the multi-UAV system is simulated, and the consensus controller designed can make the multi-UAV system form time-varying formation with jointly connected topology.