Leader-following type multi-aircraft distributed cooperative control method

A collaborative control and aircraft technology, applied in the field of aircraft control, can solve problems such as system burden, resource waste, and poor synchronization effect

Active Publication Date: 2021-02-12
NANJING UNIV OF POSTS & TELECOMM
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  • Claims
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Problems solved by technology

In periodic sampling, the final synchronization effect of the multi-aircraft system depends on the size of the sampling period. If the sampling period is too large, the synchronization effect will be correspondingly worse.
In the control strategy of continu...

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  • Leader-following type multi-aircraft distributed cooperative control method
  • Leader-following type multi-aircraft distributed cooperative control method
  • Leader-following type multi-aircraft distributed cooperative control method

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Embodiment Construction

[0050] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0051] In the multi-aircraft cooperative control method with a leader aircraft of the present invention, for a multi-aircraft system with N+1 aircraft, the aircraft with a given reference signal is regarded as the leader, and the remaining N aircraft are used as followers. The follower and the follower and the follower are connected through the communication network to form a system as the controlled object. Among them, there is a communication link between the leader and at least one follower, there is a communication link between N followers, and the leader can visit any follower through a limited path.

[0052] The information exchange between followers adopts undirected graph G=G(V, E), where V={1,...,N} is the node set of followers, is the set of communication links between followers, (i, j)∈E means that the first follower can directly ...

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Abstract

The invention discloses a leader-following type multi-aircraft distributed cooperative control method; system control based on a dynamic trigger mechanism is carried out on a multi-aircraft system with a leader aircraft, and comprises the steps: firstly, constructing a multi-aircraft system connection graph with the leader aircraft, representing the connection graph with a directed graph, according to the communication relationship between the leader and followers and between following aircrafts, establishing a control matrix, representing state information of dynamic models of the leader andthe followers in a stacked mode, obtaining the dynamic model used for controlling the flight attitude, designing a local distributed cooperative controller based on a trigger mechanism for each follower, and carrying out cooperative control on the flight state of a local aircraft, so as to make the flight state of the followers in the system to be consistent with that of the leader. The stabilityand the collaboration of the multi-aircraft system are ensured under the condition of reducing the communication among the agents, the burden brought to the system by frequent communication is reduced, and the communication resources are saved.

Description

technical field [0001] The invention relates to an aircraft control method, in particular to a trigger mechanism-based distributed cooperative control method for leader-follower multi-aircraft. Background technique [0002] In a multi-aircraft system, usually one aircraft is required to act as the leader to cooperate with all aircraft to fly synchronously. Existing cooperative control strategies for multi-aircraft systems usually use periodic sampling and continuous communication to achieve distributed cooperative control of multi-aircraft systems. In periodic sampling, the final synchronization effect of the multi-aircraft system depends on the size of the sampling period. If the sampling period is too large, the synchronization effect will be correspondingly worse. In the control strategy of continuous communication, a lot of communication is not necessary. For a system with little change in state, too much communication will cause a huge burden on the system, and cause a...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 周颖韩鹭刘璐璐
Owner NANJING UNIV OF POSTS & TELECOMM
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