摘要
为解决多机编队目标跟踪过程中存在的机间通信和控制更新频繁的问题,提出了一种具有事件触发机制的多机编队目标跟踪控制算法。首先,给出了一种具有事件触发策略的编队队形描述与目标跟踪一体化算法,简化了算法设计的复杂度,并使触发机制的工作过程更加直观;其次,给出了分布式目标跟踪控制律,并仅利用状态估计信息设计了事件触发函数,使无人机间通信与控制更新问题转换为判别触发函数的取值问题,同时设计了最小触发间隔系数,避免了可能存在的"Zeno行为";最后,以编队不同的运动模式对算法进行了仿真验证。研究结果表明:所提算法能使无人机编队在机间通信与控制更新次数明显减少的情况下跟踪上目标。
In order to solve the problem of frequent updating of information between UAVs and control input in multi-UAV formation target tracking,this paper proposes a multi-UAV formation target tracking control algorithm based on event-triggered mechanism.Firstly,a new integrated method of formation description and target tracking with event-triggered strategy is presented,which simplifies the complexity of algorithm design and makes the working process of triggered mechanism more intuitive.Secondly,distributed target tracking control law is designed,and event-triggered function is designed only based on estimated state value,so that the problem of updating communication and control input between UAVs is transformed into the problem of determining the value of triggered function.At the same time,the minimum triggered interval coefficient is designed to avoid the possible"Zeno behavior".Finally,the algorithm is verified by simulation with different formation motion modes.The results show that the proposed algorithm can make UAV formation track the target when the number of inter-aircraft communication and control update is significantly reduced.
作者
张毅
方国伟
杨秀霞
严瑄
ZHANG Yi;FANG Guowei;YANG Xiuxia;YAN Xuan(School of Aviation Combat Service,Naval Aviation University,Yantai 264001,China;School of Coastal Defence,Naval Aviation University,Yantai 264001,China)
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2021年第11期2215-2225,共11页
Journal of Beijing University of Aeronautics and Astronautics
基金
总装预研基金(6142055040203)。
关键词
目标跟踪
事件触发控制
编队控制
触发函数
最小触发间隔系数
target tracking
event-triggered control
formation control
triggered function
minimum triggered interval coefficient
作者简介
通讯作者:杨秀霞,E-mail:yangxiuxia@126.com。
