多无人机集结问题分布式求解方法

针对多无人机协同对地打击的任务区集结问题,建立了基于一致性理论的分布式控制结构,设计了结合航迹规划与轨迹控制的策略以实现多无人机同时到达。以提高一致性算法收敛速度为目的,引入状态观测器,改进了含有虚拟Leader的一致性控制算法,并对新算法的收敛性和快速性进行了数学证明。仿真结果表明,本文的方法能够有效实现多无人机同时集结到目标位置,改进的算法具有更快的收敛速度。

Distributed solving method of multi-UAV rendezvous problem

To solve the rendezvous problem in the mission area of cooperative attack for multiple unmanned aerial vehicles (UAVs), a distributed control architecture based on the consensus theory is built and a strategy which combines path plan and trajectory control is designed to realize the simultaneous arrival of the multiple UAVs. To increase the convergence speed of the consensus algorithm, a state predictor is introduced to improve the performance of the consensus control algorithm which contains the virtual leader. Theorem about convergence and efficiency of the new algorithm is introduced with the mathematical proof. Simulation results show that the simultaneous arrival of the multiple UAVs can be realized by the proposed distributed solving method and the improved algorithm has faster convergence speed.