CAJ | 학술논문

基于一致性理论的多无人机分布式协同控制已广泛运用于无人机作战中，通过一致性控制算法实现状态一致完成协同需求。建立了集结问题的数学模型，基于协调变量和协调函数的分解策略进行求解。为实现协同控制的最优性，改进了平均一致性控制算法，采用Hamilton-Jacobi-Bellman方程给出基本优化一致性控制算法。在控制算法中引入过去状态差值，提高控制算法的动态响应性和能量最优性；同时采用遗传算法优化代价函数的加权矩阵，进一步提高控制算法的动态响应性和能量最优性，缩短了任务执行时间。理论分析和仿真实验验证了方法的有效性和可行性。
기우일치성이론적다무인궤분포식협동공제이엄범운용우무인궤작전중，통과일치성공제산법실현상태일치완성협동수구。건립료집결문제적수학모형，기우협조변량화협조함수적분해책략진행구해。위실현협동공제적최우성，개진료평균일치성공제산법，채용Hamilton-Jacobi-Bellman방정급출기본우화일치성공제산법。재공제산법중인입과거상태차치，제고공제산법적동태향응성화능량최우성；동시채용유전산법우화대개함수적가권구진，진일보제고공제산법적동태향응성화능량최우성，축단료임무집행시간。이론분석화방진실험험증료방법적유효성화가행성。
Distributed cooperative control of multi-UAV system based on consensus theory has been used widely in UAV operations,in which the consistent state and collaborative demand are achieved through consensus control algorithm .The mathematical description of gathering problem was established,the problem was solved under decomposition strategy based on the method of coordination variables and coordination function .To realize optimization of cooperative control,average consensus control algorithm was improved,the expression of basic optimized consensus control algorithm was given by Hamilton-Jacobi-Bellman equation.The method got better in terms of dynamic response and optimal cost by introducing outdated state difference to control algorithm .The weighted matrix of the cost function was optimized by genetic algorithm,the dynamic response and optimal cost was improved further .In the meanwhile,the task execution time was shortened .Theoretical analysis and simulation results verify the feasibility and effectiveness of the method .