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针对现阶段分组一致性协议应用的局限性,提出了模糊C-均值聚类算法和考虑子编队之间信息交互的分组一致性控制协议。首先,构建了包含多无人机编队作战关键因素的无人机向量,基于模糊C-均值聚类算法实现了贴合实战需求的编队拆分分组。其次,针对现有分组一致性算法的局限性,提出了一种考虑子编队之间信息交互的分组一致性控制协议,并利用稳定性理论和矩阵论知识推导了相应判据准则。仿真结果表明,所设计的编队分组决策方法和一致性协议可有效实现编队拆分分组和子编队状态的分组一致性,仿真实验验证了判据准则的正确性。
Aiming at the limitations of the packet consistency protocol, a fuzzy C-means clustering algorithm and a packet consistency control protocol considering the information exchange between sub-formations are proposed. Firstly, a UAV vector containing the key factors of multi-UAV fleet formation is constructed, and the formation and splitting grouping that meets the actual needs is realized based on fuzzy C-means clustering algorithm. Secondly, aiming at the limitations of existing packet consistency algorithms, a packet consistency control protocol considering the information exchange between sub-formations is proposed. And the criterion of corresponding criteria is deduced by using the stability theory and matrix theory. The simulation results show that the designed grouping decision making method and the consistency protocol can effectively achieve the group consistency of group formation and sub-formation formation. Simulation results verify the validity of criterion.