无人机编队飞行一致性问题仿真

摘要

摘要

这些年来，随着自动化技术，无线通信技术的发展以及无人机越来越广泛的

应用，在航天航空领域，多无人机编队控制是人们的研究热点。无人机编队问题

隶属于多智能体协调控制问题，它的应用很广泛，而单个无人机的应用总是有限的，为了完成更多任务，可以使无人机与无人机之间组成编队，能够通过个体之

间的交互进行区域的信息交流来使整体呈现有规则的行动。所以，凭借无人机编

队在空间的分布性，协同执行任务时的并行性以及比较强的容错能力，无人机编

队飞行一致性问题值得我们去研究并仿真。

本课题以中等数量的无人机编队为研究对象，基于多智能体一致性研究方法

和编队控制理论来研究无人机编队飞行一致性问题。用到的知识包括一致性理论，编队控制理论，图论以及矩阵论。首先研究无领航者无人机编队飞行一致性问题，并在解决并仿真该问题以后分析具有领航者无人机编队飞行状态达到一致所满足

的条件，并对无人机编队飞行一致性算法进行仿真验证。

关键词：无人机一致性理论编队控制

ABSTRACT

Over the years, with the automation technology, wireless communication technology and the development of unmanned aerial vehicles more widely used in the aerospace field, multi-UAV formation control people's research focus. UAV formation problem belongs to multi-agent coordination and control issues, ideological coordination between multi-agent control is the result of people's animal and plant populations observed in nature to explore. UAV very broad application, and the application of a single drone is always limited, in order to get more done, you can make between the UAV and UAV fleet composition can be performed by the area of interaction between the individual information AC to make the whole show regular action. So, with the UAV formation distributed in space, the cooperative parallelism and relatively strong fault tolerance to perform a task, the UAV formation flight consistency worthy of our study and emulation.

The problem with a moderate number of UAV formation for the study, based on multi-agent methodology and consistency of control theory to study the formation of UAV formation flight consistency. Used knowledge includes theoretical consistency, formation control theory, graph theory and matrix theory. Firstly no leader UAV formation flight consistency and resolve the problem later analysis and simulation with a leader UAV formation flight to reach agreement satisfied the conditions and flight consistency algorithm performed UAV formation simulation.

Keywords：UAV Consistency Theory Formation Control

目录

目录

摘要 (1)

第一章绪论 (1)

1.1 本课题的研究背景以及意义 (1)

1.2 研究现状以及发展方向 (2)

1.2.1 无人机的编队技术 (2)

1.2.2一致性理论的研究 (5)

1.2.3一致性在编队控制中的应用 (6)

第二章预备知识 (9)

2.1图论 (9)

2.2 矩阵 (10)

2.3一致性理论算法 (12)

第三章无领航者无人机编队飞行一致性算法 (13)

3.1 问题描述 (13)

3.2 模型描述及证明 (13)

3.3 实例仿真及分析 (18)

第四章有领航者无人机编队飞行一致性算法 (21)

4.1 问题描述及模型构建 (21)

４.２连续时间协议及证明 (22)

4.3 实例仿真及分析 (25)

第五章总结与展望 (31)

5.1 本文总结 (31)

5.2 未来展望 (32)

致谢 (33)

参考文献 (35)