[1]陈杨杨,田玉平.三维空间中多飞行器的寻迹编队控制[J].东南大学学报(自然科学版),2010,40(6):1190-1195.[doi:10.3969/j.issn.1001-0505.2010.06.012]
 Chen Yangyang,Tian Yuping.Formation path following control for multiple aircrafts in three-dimensional space[J].Journal of Southeast University (Natural Science Edition),2010,40(6):1190-1195.[doi:10.3969/j.issn.1001-0505.2010.06.012]
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三维空间中多飞行器的寻迹编队控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
40
期数:
2010年第6期
页码:
1190-1195
栏目:
自动化
出版日期:
2010-11-20

文章信息/Info

Title:
Formation path following control for multiple aircrafts in three-dimensional space
作者:
陈杨杨 田玉平
东南大学自动化学院,南京 210096
Author(s):
Chen Yangyang Tian Yuping
School of Automatic Control, Southeast University, Nanjing 210096, China
关键词:
多智能体系统 寻迹编队控制 轨道函数 图论
Keywords:
multi-agent system formation path following control orbit function graph theory
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2010.06.012
摘要:
研究了三维空间中动力学模型描述的多飞行器在一组给定平面简单闭曲线上的寻迹编队控制问题,其中智能体的动态和给定轨道都是在固定直角坐标系下描述的.首先,通过管状邻域定理扩展平面轨道函数法,设计寻迹控制律,并用不变性原理证明了寻迹子系统的稳定性.接着,根据轨道函数与弧长函数的关系来设计编队控制律,使得有向通信连接下的多飞行器沿着各自给定的轨道编队飞行,并且利用图论证明,当通信拓扑对应的有向图具有全局可达点时,设计的寻迹编队控制系统是渐进稳定的.最后,对5架飞行器的寻迹编队飞行进行了仿真,仿真结果证明了该方法的有效性.这种寻迹编队控制律可以应用于大范围区域的信息优化采集.
Abstract:
The problem of formation path following in three-dimensional space is studied for a family of dynamic models of aircrafts formation flying along some given plane curves which are simple and closed. The agent’s dynamics and the given orbits are all described in a fixed system of rectangular coordinates. First, with the help of the concept of the tubular neighborhood theorem, the method of orbit function in two-dimensional space is extended to design path-following control subsystem and the stability is proved by the invariance principle. Then, the orbit functions are incorporated into arc-length functions to construct formation protocol for guaranteeing multiple aircrafts formation flying along a set of given orbits under directed communication topologies. Using the graph theory, it is proved that the designed formation path following control system is asymptotically stable if the directed topology graph has a globally reachable node. Finally, examples of formation flying of five aircrafts are shown in simulation to illustrate the method. The proposed formation path following strategy is applicable to optimal data collecting in a large area.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介: 陈杨杨(1981—),男,博士,讲师; 田玉平(联系人),男,博士,教授,博士生导师,yptian@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(60974041,60934006)、国家高技术研究发展计划(863计划)资助项目(2006AA04Z263)、东南大学优秀博士学位论文基金资助项目(YBJJ0819).
引文格式: 陈杨杨,田玉平.三维空间中多飞行器的寻迹编队控制[J].东南大学学报:自然科学版,2010,40(6):1190-1195. [doi:10.3969/j.issn.1001-0505.2010.06.012]
更新日期/Last Update: 2010-11-20