自动化学报2013，Vol.39Issue(8)：1349-1359,11.DOI:10.3724/SP.J.1004.2013.01349
基于纳什议价的无人机编队自主重构控制方法
Autonomous Reconfiguration Control Method for UAV's Formation Based on Nash Bargain
摘要
Abstract
For the formation consisting of unmanned aerial vehicles (UAVs) with different payloads in battlefield environment,in order to realize support and reinforce with each other,the control problem for formation reconfiguration of UAV is converted to the process of Nash bargain with a multi-player bargain problem.Combined with distributed model predictive control (DMPC),an new algorithm-NBS-DMPC (Nash bargaining solution-DMPC) is designed to solve this problem.The convergence of this algorithm is validated.Simulation results show that it can effectively control the self-reconfiguration of formation and achieve threat avoidance and cooperative protection.Also,this algorithm can effectively reduce the solution scale of the autonomous reconfiguration control problem.关键词
无人机/编队重构/分布式预测控制/纳什议价Key words
Unmanned aerial vehicle (UAV)/formation reconfiguration/distributed model predictive control (DMPC)/Nash bargain引用本文复制引用
茹常剑,魏瑞轩,戴静,沈东,张立鹏..基于纳什议价的无人机编队自主重构控制方法[J].自动化学报,2013,39(8):1349-1359,11.基金项目
中国航空科学基金(20101996012)资助 （20101996012）
Supported by National Aviation Science Foundation of China (20101996012) （20101996012）
