有向通信拓扑下海上无人集群分布式编队控制

侯岳奇; 梁晓龙; 张诺; 陶浩; 龚俊斌

doi:10.19693/j.issn.1673-3185.02092

有向通信拓扑下海上无人集群分布式编队控制

doi: 10.19693/j.issn.1673-3185.02092

侯岳奇^1,,
梁晓龙^1, ,,
张诺²,
陶浩³,
龚俊斌³

1.
空军工程大学空管领航学院航空集群技术与作战运用实验室，陕西西安 710051
2.
中国人民解放军31005部队，北京 100094
3.
中国舰船研究设计中心，湖北武汉 430064

基金项目: 国家自然科学基金资助项目（61701471）

详细信息

作者简介:
侯岳奇，男，1995年生，博士生。研究方向：无人机集群协同控制。E-mail：afeu_hyq@163.com

梁晓龙，男，1981年生，博士，教授，博士生导师。研究方向：航空集群作战运用，空管智能化。E-mail：afeu_lxl@sina.com

张诺，男，1984年生，硕士，助理工程师

陶浩，男，1987年生，博士，工程师

龚俊斌，男，1978年生，博士，高级工程师

通信作者:
梁晓龙

中图分类号: U664.82
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- HTML全文浏览量: 17
- PDF下载量: 31
- 被引次数: 0
出版历程
- 收稿日期: 2020-08-28
- 修回日期: 2020-12-01
- 网络出版日期: 2021-04-23

Distributed formation control for swarms of unmanned marine vehicle with directed interaction topology

1.
Aviation Swarm Technology and Operational Application Laboratory, Air Traffic Control and Navigation College, Air Force Engineering University, Xi'an 710051, China
2.
The 31005 Unit of PLA, Beijing 100094, China
3.
China Ship Development and Design Center, Wuhan 430064, China

摘要

摘要: 目的为解决海上无人集群在有向通信拓扑条件下的编队控制问题，对无人艇（USV）和无人机（UAV）集群编队跟踪控制问题进行研究。方法采用内/外环分层编队控制结构进行系统建模，利用离散时间系统对海上无人集群编队控制问题进行描述，以提高编队控制方法对异构集群的兼容性和实用性。基于虚拟领航者思想，采用基于邻居位置和速度误差反馈的分布式编队控制协议，给出海上无人集群能够实现期望构型和航迹跟踪的充要条件。结果仿真结果表明，当通信拓扑存在有向生成树，且在控制协议参数和控制器更新周期满足给定约束条件的情况下，海上无人集群能够实现稳定的编队控制。结论所提方法能够适用于海上无人集群在有向通信拓扑条件下的编队控制，具有一定的应用价值。
- 海上无人集群 /
- 通信拓扑 /
- 编队控制 /
- 一致性控制 /
- 分布式控制
Abstract: Objectives In order to realize the formation control of swarms of unmanned marine vehicle (UMV) with directed interaction topology, the formation tracking control of unmanned surface vehicle (USV) and unmanned aerial vehicle (UAV) swarms is studied. Methods An inner/outer loop layered control structure of formation is adopted to model the system, and the discrete-time system is used to describe the formation control problem of UMV swarms, improving the compatibility and practicability of the method for heterogeneous swarms. Based on the idea of a virtual leader, a distributed formation control protocol based on neighbor position and velocity error feedback is adopted, and the necessary and sufficient conditions for UMV swarms to realize the desired configuration and path tracking are given. Results The simulation results show that UMV swarms can achieve stable formation control when there is a directed spanning tree in the interaction topology, and the parameters of the control protocol and discrete time period meet the given constraints. Conclusions This method has application value in the formation control of UMV swarms with directed interaction topology.
- swarms of unmanned marine vehicle /
- interaction topology /
- formation control /
- consensus control /
- distributed control

HTML全文

图 1 内/外环分层编队控制结构框图

Figure 1. Inner/outer loop layered control structure of formation

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图 2 海上无人集群通信拓扑示意图

Figure 2. The communication topology of UMV swarms

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图 3 海上无人集群期望构型示意图

Figure 3. The expected formation of UMV swarms

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图 4 海上无人集群编队轨迹图

Figure 4. The formation path of UMV swarms

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图 5 海上无人集群编队过程图

Figure 5. The formation process of UMV swarms

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图 6 编队位置和速度误差随时间变化曲线

Figure 6. Time histories of formation position and velocity error

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图 7 海上无人集群速度随时间变化曲线

Figure 7. Time histories of velocity of UMV swarms

下载: 全尺寸图片幻灯片

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