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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.
This paper studies the controllability of heterogeneous multi-UAV networked distributed cooperative control system with Leader-Follower structure and distributed communication topology.Based on the idea of controlled consistency of homogeneous networks, a heterogeneous multi-aircraft networked control system Based on the different forms of the dynamic model and the algebraic graph theory and the traditional control theory, the controllability conditions of the heterogeneous multi-UAV networked collaborative control system are obtained, especially the controllability and the Network system, and then analyzes and proposes a feasible method to improve the controllability of the system.Finally, the simulation results verify the correctness of the relevant conclusions in this paper.