【摘要】 针对无长机带领、具有固定无向通信拓扑的无人机编队构成控制问题,提出了一种基于"相邻"无人机状态反馈的分散最优控制方法。该方法采用Laplacian矩阵描述编队通信结构,以"相邻"无人机与编队构型间的相对状态误差构建分散最优控制模型,并通过求解具有LMI约束的线性目标最优化问题得到编队各无人机的分散最优控制律。该方法使得多无人机在分散协同的前提下,基于局部信息快速准确地形成预定编队构型,达到运动方向和速度的一致性。仿真实验验证了该方法的有效性。更多还原

【Abstract】 In order to form a special formation when the leaderless UAVs maneuver with the undirected communication topology,a decentralized optimal control method based on the neighbors’ state feedback is proposed.The Laplacian Matrix is intorduced to discribe the communication topology,and a decentralized optimal control model based on the error between the neighbors’ state and the target formation is built.And the decentralized optimal control law is obtained by solving the minimum problem with the linear matrix inequalities(LMI) constrains.This method can guarantee the UAVs form the formation rapidly and precisely,and reach speed and direction consensus with the local information.Simulation results demonstrate the effectiveness of the proposed method.更多还原