论文部分内容阅读
多无人机协同系统的过度扩散会引起协同失效,对系统进行规模控制是解决该问题的一种潜在方法.首先抽象出多无人机协同搜索系统的宏观运动特征,进而建立平台的运动方程,然后通过构造合适的李雅普诺夫函数,获得该系统的稳定控制规律及其控制参数.仿真结果表明:1)本文所提的稳定控制机制不仅能够使多无人机系统实现有效的协同,还能确保系统的稳定性;2)在系统稳定时,通过调整相关控制参数可以有效地控制系统规模.
Multi-UAV cooperative system over-diffusion can lead to cooperative failure, and the scale control of the system is a potential solution to this problem.Firstly, the macro-motion characteristics of multi-UAV collaborative search system are abstracted, and then the equation of motion , Then the stable control law and its control parameters of the system are obtained by constructing a suitable Lyapunov function.The simulation results show that: 1) The stability control mechanism proposed in this paper can not only achieve effective synergy between multi-UAV systems, Can ensure the stability of the system; 2) When the system is stable, by adjusting the relevant control parameters can effectively control the system size.