CAJ | 학술논문

多无人机系统中，系统状态的一致性是实现多无人机分布式协同控制的基础，一致性控制算法是多无人机系统实现状态一致的有效方法。通信约束条件下，无人机平台基于局部交互信息，通过一致性控制算法，控制系统状态演化一致。为解决改变通信拓扑结构和多跳路由通信的不可操作性问题，引入状态差值和预测状态，设计新的快速一致性控制算法。给出新算法收敛性和快速性的相关定理，并进行了严格的数学证明，在分布式协同控制结构下实现多无人机快速任务协同。理论分析和仿真实验验证了算法的可行性和有效性。
다무인궤계통중，계통상태적일치성시실현다무인궤분포식협동공제적기출，일치성공제산법시다무인궤계통실현상태일치적유효방법。통신약속조건하，무인궤평태기우국부교호신식，통과일치성공제산법，공제계통상태연화일치。위해결개변통신탁복결구화다도로유통신적불가조작성문제，인입상태차치화예측상태，설계신적쾌속일치성공제산법。급출신산법수렴성화쾌속성적상관정리，병진행료엄격적수학증명，재분포식협동공제결구하실현다무인궤쾌속임무협동。이론분석화방진실험험증료산법적가행성화유효성。
Consistent system state is the basis of distributed cooperative control in multi-UAV system,and consensus control algorithm is an effective method for the multi-UAV system to achieve consistent state . Under communication constraints,the UAV platform is controlled to evolve to the consistent system state through the consensus control algorithm based on local information interaction .To solve the unfeasibility of changing the communication topology and of multi-hop routing communication,a new fast consensus control algorithm was designed by introducing state difference and predictive state .Theorems about convergence and efficiency of the new algorithm were introduced with a rigorous mathematical proof .Fast task coordination was achieved under distributed cooperative control structure .Theoretical analysis and simulation results verify the feasibility and effectiveness of the algorithm .