存在时延的分布式无人机编队控制方法

多无人机协同是未来无人机应用的重要方式,多无人机编队作为多无人机协同的重要技术和研究热点也已引起越来越多关注,分布式无人机相较于集中式具有灵活性好、鲁棒性强,对通信及计算机性能要求低等优点;针对无人机的非线性动力学模型,在有向固定拓扑的条件下,运用高阶一致性理论解决无人机系统的分布式编队问题;基于Lyapunov稳定性原理,利用线性矩阵不等式(LMI),分别得出在具有时变时延导数信息及无导数信息情况下的稳定性充分条件;最后,仿真验证了这种编队控制方法的有效性;研究结果表明,利用文章所提出的方法控制无人机编队飞行,在满足稳定性的前提下,无人机系统能够形成稳定的编队,并达到预期速度。     

Ranking important nodes in complex networks by simulated annealing

In this paper, based on simulated annealing a new method to rank important nodes in complex networks is presented.First, the concept of an importance sequence(IS) to describe the relative importance of nodes in complex networks is defined. Then, a measure used to evaluate the reasonability of an IS is designed. By comparing an IS and the measure of its reasonability to a state of complex networks and the energy of the state, respectively, the method finds the ground state of complex networks by simulated annealing. In other words, the method can construct a most reasonable IS. The results of experiments on real and artificial networks show that this ranking method not only is effective but also can be applied to different kinds of complex networks.