基于改进势场的无人机编队恢复与一致性仿真

针对多无人机编队防撞、编队恢复及位置和速度收敛一致性问题，提出以改进势场原理与一致性理论为基础的分布式协同编队控制算法。建立静态障碍物模型、无人机质点模型与二阶系统动态模型；定义含协调因子和通信权重的机间协调势场函数，实现防撞和队形恢复的控制目标；在基本一致性协议中引入编队中心参考向量、期望速度和速度镇定项，实现位置和速度的收敛一致性；结合改进的一致性协议与改进势场作用下的合加速度设计协同编队控制算法，并由Hamilton函数证明该算法的稳定收敛性。仿真结果表明：该方法可以实现防撞、队形恢复及位置与速度收敛一致的控制目标。

UAV Formation Recovery and Consistency Simulation Based on Improved Potential Field

Aiming at the problems of multi-UAV formation collision avoidance, formation recovery and the consistency of position and velocity convergence, a distributed cooperative formation control algorithm based on the improved potential field principle and consistency theory is proposed. The static obstacle model, UAV particle model and the second-order system dynamic model are established; the coordination potential field function with coordination factors and communication weights is defined, which can achieve the control objectives of collision avoidance and formation recovery; on the basic consistency protocol, the formation center reference vector, expected speed and speed stabilization items are introduced to achieve the convergence and consistency of position and speed; the coordinated formation control algorithm is designed by combining the improved consistency protocol and the improved total acceleration under the action of the potential field, and the stable convergence of the algorithm is proved by the Hamilton function. The simulation results show that the method can achieve the control objectives of collision avoidance, formation recovery and the convergence of position and velocity.