针对故障条件下的多无人机分组编队控制问题,提出一种基于同步分布式模型预测控制(distributed model predictive control,DMPC)的分组编队控制算法。首先,建立考虑虚拟领导者的分组分层控制框架。接着,对编队中的不可恢复故障进行建模...针对故障条件下的多无人机分组编队控制问题,提出一种基于同步分布式模型预测控制(distributed model predictive control,DMPC)的分组编队控制算法。首先,建立考虑虚拟领导者的分组分层控制框架。接着,对编队中的不可恢复故障进行建模,并提出交互健康判别机制及“故障隔离”策略,结合分组分层控制框架提出故障条件下分组编队控制方案。然后,将故障模型与同步DMPC理论相结合,根据“故障隔离”策略,设计故障条件下的单组编队控制算法,并进一步根据控制方案给出分组编队控制算法,且基于Lyapunov理论证明控制算法下编队系统的稳定性。最后,通过仿真验证所设计算法在故障条件下的有效性和优越性。展开更多
In the distributed synthetic aperture radar （SAR）, the alternating bistatic mode can perform phase reference without a synchronization link between two satellites compared with the pulsed alternate synchronization m...In the distributed synthetic aperture radar （SAR）, the alternating bistatic mode can perform phase reference without a synchronization link between two satellites compared with the pulsed alternate synchronization method. The key of the phase synchronization processing is to extract the oscillator phase differences from the bistatic echoes. A signal model of phase synchronization in the alternating bistatic mode is presented. The phase synchronization processing method is then studied. To reduce the phase errors introduced by SAR imaging, a sub-aperture processing method is proposed. To generalize the sub-aperture processing method, an echo-domain processing method using correlation of bistatic echoes is proposed. Finally, the residual phase errors of the both proposed processing methods are analyzed. Simulation experiments validate the proposed phase synchronization processing method and its phase error analysis results.展开更多
基金Supported by National Natural Science Foundation of China （61164013, U1334211, 51174091）, the Key Program of China Ministry of Railway （2011Z002-D）, and Natural Science Foundation of Jiangxi Province （20122BAB201021）
文摘针对故障条件下的多无人机分组编队控制问题,提出一种基于同步分布式模型预测控制(distributed model predictive control,DMPC)的分组编队控制算法。首先,建立考虑虚拟领导者的分组分层控制框架。接着,对编队中的不可恢复故障进行建模,并提出交互健康判别机制及“故障隔离”策略,结合分组分层控制框架提出故障条件下分组编队控制方案。然后,将故障模型与同步DMPC理论相结合,根据“故障隔离”策略,设计故障条件下的单组编队控制算法,并进一步根据控制方案给出分组编队控制算法,且基于Lyapunov理论证明控制算法下编队系统的稳定性。最后,通过仿真验证所设计算法在故障条件下的有效性和优越性。
基金supported by the National Natural Science Foundation of China(6100203161101187)
文摘In the distributed synthetic aperture radar （SAR）, the alternating bistatic mode can perform phase reference without a synchronization link between two satellites compared with the pulsed alternate synchronization method. The key of the phase synchronization processing is to extract the oscillator phase differences from the bistatic echoes. A signal model of phase synchronization in the alternating bistatic mode is presented. The phase synchronization processing method is then studied. To reduce the phase errors introduced by SAR imaging, a sub-aperture processing method is proposed. To generalize the sub-aperture processing method, an echo-domain processing method using correlation of bistatic echoes is proposed. Finally, the residual phase errors of the both proposed processing methods are analyzed. Simulation experiments validate the proposed phase synchronization processing method and its phase error analysis results.
