基于MAS的无人机编队稳定飞行控制
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- 英文论文题名：Stable Flight Control for UAVs Formation Based on MAS
- 论文作者：朱文慧 ; 戎娇娇 ; 向科海
- 英文论文作者：Zhu Wenhui ; Rong Jiaojiao ; Xiang Kehai ; NO.95899 Unit ; PLAAF ; NO.95830 Unit ; PLAAF
- 年：2016
- 作者机构：空军95899部队;空军95830部队;
- 论文关键词：无人机 ; 编队控制 ; 稳定机制 ; 多智能体系统
- 英文论文关键词：unmanned aerial vehicles ; formation control ; stable mechanism ; multiple agents system
- 会议召开时间：2016-10-31
- 会议录名称：探索 创新 交流（第7集）——第七届中国航空学会青年科技论坛文集（上册）
- 英文会议录名称：Discovery,Innovation and Communication——Proceedings of 7th CSAA Science and Technology Youth Forum
- 语种：中文
- 分类号：V279;V249.1
- 学会代码：ZGHU
- 会议名称：探索 创新 交流（第7集）——第七届中国航空学会青年科技论坛
- 会议地点：中国广东中山
- 主办单位：中国航空学会
- 学会名称：中国航空学会
- 页数：7
- 文件大小：644k
- 原文格式：O
- 会议级别：全国
摘要
近年来,随着人工智能科技的不断发展和进步,具有一定智能化的自主多无人系统被广泛地用于军民领域。无人机编队作为多无人系统的一种典型应用模式,如何通过局部的协调机制实现稳定的编队控制成为其研究热点。本文将多无人系统抽象为具有一定自主性的多智能体系统。所有的智能体采用相同的运动模型,假定其通信拓扑构成一个有向图,且是弱连通的。为有效跟踪领导智能体的运动轨迹,为每个跟随智能体设计具有双回路结构的控制机制,并分析其稳定性,得到其稳定控制的一个充分条件。最后,通过仿真来验证所获得理论结果。
In recent years,with the growing development of artificial intelligence technology,multiple unmanned aerial vehicles(UAVs) have been widely used in military and civilized fields.The UAV formation is a typical application mode of multi-UAV system.How to realize stable formation control by some local coordinated mechanism has become the research hotpot.In this paper,the multi-UAV system is abstracted into a multi-agents system(MAS) with certain autonomy.All the agents among the system are adopted with the same motion model.The interconnection topology among die agents is assumed to be a directed and weakly connected graph.In order to track the trajectory of leader agent,the control mechanism with double loops is designed for each follower agent.The stability of this control mechanism is analyzed,and one sufficient condition of stable control is obtained.Finally,a simulation example is given to illustrate the obtained theoretical results.
In recent years,with the growing development of artificial intelligence technology,multiple unmanned aerial vehicles(UAVs) have been widely used in military and civilized fields.The UAV formation is a typical application mode of multi-UAV system.How to realize stable formation control by some local coordinated mechanism has become the research hotpot.In this paper,the multi-UAV system is abstracted into a multi-agents system(MAS) with certain autonomy.All the agents among the system are adopted with the same motion model.The interconnection topology among die agents is assumed to be a directed and weakly connected graph.In order to track the trajectory of leader agent,the control mechanism with double loops is designed for each follower agent.The stability of this control mechanism is analyzed,and one sufficient condition of stable control is obtained.Finally,a simulation example is given to illustrate the obtained theoretical results.
引文
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[2]Jongki Moon,J V R Prasad.Mechatronics,2011,21:861.
[3]A K Das,R Fierro,V Kumar,J P Ostrowski,et al.IEEE Trans on Robotics and Automation,2002,18:813.
[4]Doherty P,Rudol P.Advances in Artificial Intelligence,2007,3.
[5]Sasa S,Matsuda Y,Nakadate M.SICE annual conference,2008:978.
[6]Joel G Manathara,P B Sujit,Randal W Beard.Journal of Intelligent&Robotic Systems,2011,62:125.
[7]Tsung-Ying Sun,Chih-Li Huo,Shang-Jeng.Expert Systems with Applications,2011,8:10036.
[8]Axel Blirkle,Florian Segor,Matthias Kollmann.Journal of Intelligent&Robotic Systems,2011,61:339.
[9]Hyunjin Choi,Youdan Kim.Control Engineering Practice,2014,22:10.
[10]Dobrokhodov V N,Kaminer I I,Jones K D.Journal of Guidance,Control,and Dynamics,2008,31:907.
[11]J Shin,H J Kim.IEEE Transactions on Systems,Man,and Cybernetics A;Systems and Human,2009,39:1116.
[12]J R Lawton,R W Beard,B Young.IEEE Transactions on Robotics and Automation,2003,19:933.
[13]Karimoddini A,Lin H,Chen BM,Lee TH.Mechatronics,2011,21:887.
[14]Ali Karimoddini,Hai Lin,Ben M Chen.Mechatronics,2013,23:677.
[15]D M Stipanovic,G Inalhan,R Teo,et al.Automatica,2004,40:1286.
[16]F Giulietti,M Innocenti,M Napolitano,et al..Aerosp Sci Tech,2005,9:68.
[17]Paul T,Krogstad T,Gravdahl J.Simul Modell Practice Theory,2008,16:1453.
[18]Lee G,Chong NY.Mechatronics,2009,19:86.
[19]R.Olfati-Saber,R M Murray.IEEE Trans Autom Control,2004,49:1520.
[20]Hamed Rezaee,Farzaneh Abdollahi.Commun Nonlinear Sci Simulat,2013,18:744.
[21]W Ni,D Cheng.Syst Control Lett,2010,59:209.