多无人机协同探测快速目标的控制方法设计

针对无人机(unmannd aerial vehicle, UAV)对快速运动目标的协同探测问题, 设计了一种多UAV协同探测控制算法。首先假设每架UAV都携带相同的探测载荷, 根据载荷特性设计了针对快速运动目标的UAV协同探测队形。然后引入固定时间控制一致性协议到UAV载荷角度控制中, 控制载荷持续照射目标; 引入有限时间一致性协议到UAV编队控制中, 用以形成协同探测队形, 并通过二跳网络加快队形的收敛。通过将UAV队形控制与UAV载荷的角度控制相结合, 从而实现UAV对快速运动目标探测时间的最大化, 极大的延长了高速运动目标被发现的时间。最终通过理论分析和仿真实验证明了该控制算法的有效性。

Design of control method for multi-UAV cooperative detection of fast target

Aiming at the problem of unmannd aerial vehicle (UAV) cooperative detection of fast moving target, a multi-UAV cooperative detection control algorithm is designed. Firstly, assuming that each UAV carries the same detection load, and a cooperative detection formation for fast moving targets was designed according to the load characteristics. Then, fixed-time control consistency protocol is introduced into the UAV load angle control to control the load to irradiate the target continuously; finite-time consistency protocol is introduced into the UAV formation control to form the cooperative detection formation and speed up the convergence of the formation through two-hop network. Through the combination of UAV formation control and UAV load angle control, the detection time of fast moving target is maximized, and the detection time of high-speed moving target is greatly prolonged. Finally, the effectiveness of the control algorithm is proved by the mathematical analysis and the simulation experiment.