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针对固定通信拓扑下的具有时变通信延迟的多无人机(multi-UAVs)系统,在一致性协议的基础上提出了分布式的编队控制算法.利用Lyapunov-Krasovskii函数分析了时延多无人机系统的稳定性,并以线性不等式(LMI)的形式给出了系统稳定的条件.当满足稳定性条件时,编队控制算法将使系统中无人机的速度和编队队形分别渐近地收敛至期望速度和期望队形.仿真实例验证了控制算法的有效性.
Aiming at the multi-UAVs with time-varying communication delay in fixed communication topology, a distributed formation control algorithm is proposed based on the consensus protocol. By using Lyapunov-Krasovskii function, The stability of man-machine system and the condition of system stability in the form of linear inequality (LMI) .When the stability condition is satisfied, the formation control algorithm will make the speed and formation formation of the UAV in the system asymptotically Converges to the desired speed and expected formation.The simulation results verify the effectiveness of the control algorithm.