信息与控制2012，Vol.41Issue(2)：142-146,5.DOI:10.3724/SP.J.1219.2012.00142
具有通信延迟的多无人机编队飞行控制
Formation Fight Control of Multi-UAVs with Communication Delay
摘要
Abstract
A distributed formation control algorithm is proposed based on consensus protocol for multi-UAVs (multi-unmanned aerial vehicles) system with time-varying communication delays and fixed communication network topology. System stability of multi-UAVs system with time delays is analyzed by using Lyapunov-Krasovskii function and the stability condition in terms of LM1 is given. When the stability condition is satisfied, the formation control algorithm will guide the UAVs velocity vectors and the formation to asymptotically converge to the desired velocity vector and the desired formation respectively. Simulation example verifies the effectiveness of the control algorithm.关键词
多无人机(multi-UAVs)/编队飞行控制/一致性协议/时变通信延迟Key words
multi-unmanned aerial vehicles (multi-UAVs)/ formation flight control/ consensus protocol/ time-varying communication delay分类
信息技术与安全科学引用本文复制引用
李少斌,陈炎财,杨忠,黄宵宁,杨成顺..具有通信延迟的多无人机编队飞行控制[J].信息与控制,2012,41(2):142-146,5.基金项目
国家自然科学基金资助项目(60674100) （60674100）
江苏省高校自然利学基金资助项目(09KJB470002). （09KJB470002）
