控制理论与应用2012，Vol.29Issue(3)：282-290,9.
异构多无人机网络化协同控制系统的可控性
Controllability of heterogeneous networked systems for multiple unmanned aerial vehicles
摘要
Abstract
We investigate the controllability of heterogeneous networked systems for multiple unmanned aerial vehicles （UAV） which are distributed-cooperatively controlled in the leader-follower configuration and with the local distributed communication topology. On the basis of the homogeneous networked control consistency, the dynamic models of the multi-UAV networked systems are obtained. The algebraic graph theory and the traditional control theory are respec- tively applied to each form of dynamic models for obtaining the controllability condition, and the relations between the controllability and the communication topology in the networked systems. Feasible methods for improving the system controllability are also analyzed and presented. Finally, numerical examples are provided to illustrate the correctness of the proposed methods.关键词
异构多无人机网络/可控性/网络化系统/代数图论Key words
heterogeneous multiple UAVs network/controllability/networked system/algebraic graph分类
信息技术与安全科学引用本文复制引用
陈际玮,周锐,吴江..异构多无人机网络化协同控制系统的可控性[J].控制理论与应用,2012,29(3):282-290,9.基金项目
国家自然科学基金资助项目 （）
教育部博士点基金资助项目 （）
总装重点实验室基金资助项目 （）
航空科学基金资助项目（2011ZC13001）. （）
