| 引用本文: | 陈际玮,周锐,吴江.异构多无人机网络化协同控制系统的可控性[J].控制理论与应用,2012,29(3):282~290.[点击复制] |
| CHEN Ji-wei,ZHOU Rui,WU Jiang.Controllability of heterogeneous networked systems for multiple unmanned aerial vehicles[J].Control Theory and Technology,2012,29(3):282~290.[点击复制] |
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| 异构多无人机网络化协同控制系统的可控性 |
| Controllability of heterogeneous networked systems for multiple unmanned aerial vehicles |
| 摘要点击 2981 全文点击 2410 投稿时间：2010-10-26 修订日期：2011-04-19 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.3.CCTA101257 |
| 2012,29(3):282-290 |
| 中文关键词 异构多无人机网络 可控性 网络化系统 代数图论 |
| 英文关键词 heterogeneous multiple UAVs network controllability networked system algebraic graph |
| 基金项目 国家自然科学基金资助项目(60975073, 61175109); 教育部博士点基金资助项目(20091102110006); 总装重点实验室基金资助项目(9140C4602041003); 航空科学基金资助项目(2011ZC13001). |
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| 中文摘要 |
| 研究具有Leader-Follower结构和分布式通信拓扑的异构多无人机网络化分布式协同控制系统的可控性问题. 基于同构网络的受控一致性思想建立了异构多飞行器网络控制系统的动态模型; 并针对该动态模型的不同形式, 基于代数图论和传统的控制理论, 分别得到了异构多无人机网络化协同控制系统的可控性条件, 尤其是可控性与该网络化系统中通信拓扑之间的关系; 然后分析且提出了改善系统可控性的可行性方法. 最后仿真结果验证了本文相关结论的正确性. |
| 英文摘要 |
| We investigate the controllability of heterogeneous networked systems for multiple unmanned aerial vehicles (UAV) which are distributed-cooperatively controlled in the leader-follower configuration and with the local distributed communication topology. On the basis of the homogeneous networked control consistency, the dynamic models of the multi-UAV networked systems are obtained. The algebraic graph theory and the traditional control theory are respectively applied to each form of dynamic models for obtaining the controllability condition, and the relations between the controllability and the communication topology in the networked systems. Feasible methods for improving the system controllability are also analyzed and presented. Finally, numerical examples are provided to illustrate the correctness of the proposed methods. |