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考虑到编队队形和速度变化的实际情况,以二阶模型为研究对象,采用基于一致性算法研究多UAV的协同编队控制问题。首先,定量描述编队问题,定义与编队队形一一对应的编队向量;其次,研究遇到障碍时的UAV编队变形与变换问题;在经典一致性算法的基础上,引入编队队形和速度控制项,设计UAV个体的一致性编队控制律;最后,研究系统的稳定性和编队的收敛性问题,通过仿真分析验证编队能够形成并保持期望的编队队形和编队速度,且编队的变换不影响编队系统的稳定性和收敛性。
Considering the formation formation and velocity changes, taking the second-order model as the research object, the cooperative formation control problem based on the consistency algorithm is studied. Firstly, the formation problem is quantitatively described and the formation vectors corresponding to formation formation are defined. Secondly, the formation and transformation of UAV formation in the case of obstacles are studied. Based on the classical consistency algorithm, formation formation and velocity control are introduced Finally, the stability of the system and the formation of the formation of the convergence problem, verify that the formation can be formed through simulation and maintain the formation formation and maintain the formation of the formation speed, and formation of the transformation does not affect Formation system stability and convergence.