计算机工程与应用2018，Vol.54Issue(12)：51-56,125,7.DOI:10.3778/j.issn.1002-8331.1704-0458
基于输入约束一致性算法的多无人机编队控制
Consensus algorithm with input constraint based formation control for multiple UAVs
摘要
Abstract
This paper investigates the formation control strategy for the multiple UAVs based on cascade system theory and consensus algorithm with input constraint. Firstly, the general model of the vertical take-off and landing vehicles sys-tem is given. Secondly, a simplified model with cascade form is presented by transforming the complex general model based on cascade theory and the consensus algorithm is proposed for the model with cascade form based on the bounded property of the hyperbolic tangent function. Finally, the formation control algorithm is presented based on the proposed consensus algorithm with input constraint to study the problem of multiple UAVs formation control. The simulation exam-ples have done to illustrate the effectiveness of the proposed approach based on Matlab platform. Numerical simulation shows all the states can converge to same state. Furthermore, numerical simulation about multiple UAVs formation con-trol has done. The simulation results show multiple UAVs can reach the desired formation under the proposed approach.关键词
级联系统理论/输入约束/双曲正切函数/一致性/编队控制Key words
cascade system theory/input constraint/the hyperbolic tangent function/consensus control/formation control分类
信息技术与安全科学引用本文复制引用
熊涛,曹科才,柴运,徐培娟..基于输入约束一致性算法的多无人机编队控制[J].计算机工程与应用,2018,54(12):51-56,125,7.基金项目
教育部留学回国人员科研启动基金(No.BJ213022) （No.BJ213022）
南京邮电大学自然科学基金(No.NY214075). （No.NY214075）
