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多无人机协同的稳定控制机理研究
引用本文:茹常剑,魏瑞轩,沈东.多无人机协同的稳定控制机理研究[J].物理学报,2014,63(22):220202-220202.
作者姓名:茹常剑  魏瑞轩  沈东
作者单位:1. 空军工程大学航空航天工程学院, 西安 710038;2. 中国人民解放军94795部队, 芜湖 241000
基金项目:国家自然科学基金,中国航空科学基金(批准号:20135896027)资助的课题* Project supported by the National Natural Science Foundation of China,the National Aviation Science Foundation of China
摘    要: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. 关键词: 无人机 协同系统 稳定控制

关 键 词:无人机  协同系统  稳定控制
收稿时间:2014-04-18

Study on stability control mechanism of multiple unmanned aerial vehicle co op erative system
Ru Chang-Jian , Wei Rui-Xuan , Shen Dong.Study on stability control mechanism of multiple unmanned aerial vehicle co op erative system[J].Acta Physica Sinica,2014,63(22):220202-220202.
Authors:Ru Chang-Jian  Wei Rui-Xuan  Shen Dong
Abstract:The excessive diffusion of multiple unmanned aerial vehicle (UAV) cooperative system may lead to the cooperative failure, but to control the system scale is a potential way to solve this problem. First, macroscopic motion characteristic of multi-UAV cooperative searching system is abstracted, and then motion model of the platform is established. Afterwards, by constructing an appropriate Lyapunov function, the stable control mechanism of this system and its stable control parameters are obtained. Simulation results verify the following two conclusions: 1) the proposed stable control mechanism can not only make multi-UAV system realizes the effective cooperation, but also can ensure the stability of this system; 2) when this system is in a stable state, its scale can be controlled effectively by adjusting the relevant control parameters.
Keywords: unmanned aerial vehicle cooperative system stability control
Keywords:unmanned aerial vehicle  cooperative system  stability control
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