维普中文期刊产品整合服务

Distributed Cooperative Control Algorithm for Multi-UAV Mission Rendezvous

查看全文 作　　者：Liu [1]Guoliang;Xing [2]Dongjing;Hou [3]Jianyong;Jin [3]Guting;Zhen [2]Ziyang 高影响力作者 机构地区：[1]Science and Technology on Avionics Integration Laboratory,Shanghai 200233,P.R.China;[2]College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,P.R.China;[3]China National Aeronautical Radio Electronics Research Institute,Shanghai 200233,P.R.China高影响力机构 出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》索引2017年第34卷第6期,共10页高影响力期刊 基　　金：jointly granted by the Science and Technology on Avionics Integration Laboratory;the Aeronautical Science Foundation(2016ZC15008) 摘　　要：Multiple unmanned aerial vehicles(UAVs)cooperative operation is the main form for UAVs fighting in battlefield,and multi-UAV mission rendezvous is the premise of cooperative reconnaissance and attack missions.We propose a rendezvous control strategy,which divides the rendezvous process into two parts:The loose formation rendezvous and the close formation rendezvous.In the first stage,UAVs are supposed to reach the specific target locations simultaneously and form a loose formation.A distributed control strategy based on first-order consensus algorithm is presented to achieve this goal.Then the second stage is designed based on the second-order consensus algorithm to complete the transition from the loose formation to the close formation.This process needs the speeds and heading angles of UAVs to reach an agreement.Besides,control algorithms with a virtual leader are proposed,by which the formation states can reach a specific value.Finally,simulation results show that the control algorithms are capable of realizing the mission rendezvous of multi-UAV and the consistence of UAVs′final states,which verify the effectiveness and feasibility of the designed control strategy. 关 键 词：unmanned aerial vehicles loose formation rendezvous close formation rendezvous consensus algorithm cooperative control
相关文献

参考文献(14)

引证文献(6)

耦合文献(90)

网站首页 | 关于我们 | 联系我们 | 产品服务 | 客服中心 | 广告服务 | 版权声明 | 网站联盟 | 友情链接 | 售卡网点

版权所有© 渝B2-20050021-1　渝公网安备 50019002500403号　违法和不良信息举报中心

互联网出版许可证 新出网证(渝)字10号 全国400电话 - 免长途话费