无人机集群分组编队控制跟踪一体化设计

V24; 针对具有Lipschitz非线性动力学特性的无人机(unmanned aerial vehicle,UAV)集群系统的分组编队跟踪控制问题,提出了 一种基于一致性理论的分组编队协同控制方法.首先,建立分层双虚拟结构的协同控制框架,将多编队生成、保持以及组内组间协同变换等复杂编队任务作为控制目标,基于参数组的队形描述方法,在分层控制框架内分别设置轨迹导引UAV和基准UAV,并利用UAV之间的局部运动信息设计编队控制律,克服了采用现有多编队控制策略编队间难以协同的缺陷;其次,设计多编队控制和目标跟踪一体化控制策略,确保在多编队进行协同变换的同时实现对机动目标的精确协同跟踪;最后,仿真结果...

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Published in系统工程与电子技术 Vol. 45; no. 3; pp. 848 - 858
Main Authors 张毅, 于浩, 杨秀霞, 姜子劼
Format Journal Article
LanguageChinese
Published 海军航空大学,山东烟台264001 01.03.2023
Subjects
分组编队协同
一致性控制
目标跟踪
多编队控制
队形参数组
Online AccessGet full text
ISSN1001-506X
DOI10.12305/j.issn.1001-506X.2023.03.27

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Abstract V24; 针对具有Lipschitz非线性动力学特性的无人机(unmanned aerial vehicle,UAV)集群系统的分组编队跟踪控制问题,提出了 一种基于一致性理论的分组编队协同控制方法.首先,建立分层双虚拟结构的协同控制框架,将多编队生成、保持以及组内组间协同变换等复杂编队任务作为控制目标,基于参数组的队形描述方法,在分层控制框架内分别设置轨迹导引UAV和基准UAV,并利用UAV之间的局部运动信息设计编队控制律,克服了采用现有多编队控制策略编队间难以协同的缺陷;其次,设计多编队控制和目标跟踪一体化控制策略,确保在多编队进行协同变换的同时实现对机动目标的精确协同跟踪;最后,仿真结果验证了所提的控制算法能够实现分组编队的跟踪控制.
AbstractList V24; 针对具有Lipschitz非线性动力学特性的无人机(unmanned aerial vehicle,UAV)集群系统的分组编队跟踪控制问题,提出了 一种基于一致性理论的分组编队协同控制方法.首先,建立分层双虚拟结构的协同控制框架,将多编队生成、保持以及组内组间协同变换等复杂编队任务作为控制目标,基于参数组的队形描述方法,在分层控制框架内分别设置轨迹导引UAV和基准UAV,并利用UAV之间的局部运动信息设计编队控制律,克服了采用现有多编队控制策略编队间难以协同的缺陷;其次,设计多编队控制和目标跟踪一体化控制策略,确保在多编队进行协同变换的同时实现对机动目标的精确协同跟踪;最后,仿真结果验证了所提的控制算法能够实现分组编队的跟踪控制.
Author 于浩
姜子劼
杨秀霞
张毅
AuthorAffiliation 海军航空大学,山东烟台264001
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ZHANG Yi
YU Hao
YANG Xiuxia
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一致性控制
目标跟踪
多编队控制
队形参数组
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Snippet V24; 针对具有Lipschitz非线性动力学特性的无人机(unmanned aerial vehicle,UAV)集群系统的分组编队跟踪控制问题,提出了 一种基于一致性理论的分组编队协同控制方法.首先,...
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Title 无人机集群分组编队控制跟踪一体化设计
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