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本文对多无人机分布式时变编队控制问题进行了研究.无人机之间的通信拓扑假定是有向和切换的.基于自身状态与邻居状态的相对局部信息构建了分布式编队控制器.通过引入一个恰当的编队误差向量,将有向切换通信拓扑下的多无人机编队问题转化为一个切换系统的镇定问题.基于Lyapunov稳定性分析方法得到了达成编队的充分性条件.仿真实验结果验证了结论的有效性.
In this paper, multi-UAV-based distributed time-varying formation control is studied. The UAV communication topology is assumed to be directed and switched. Based on the relative local information of its own state and its neighbor state, a distributed formation controller By introducing an appropriate formation error vector, the multi-UAV formation under directional switch communication topology is transformed into a stabilization problem for switching systems.The sufficient conditions for the formation of a formation are obtained based on the Lyapunov stability analysis method.The simulation experiment The results verify the validity of the conclusion.