基于鸽群层级交互的有人/无人机集群一致性控制

doi:10.16183/j.cnki.jsjtu.2020.146

上海交通大学学报 ›› 2020, Vol. 54 ›› Issue (9): 973-980.doi: 10.16183/j.cnki.jsjtu.2020.146

• 制导、导航与控制专栏 • 上一篇下一篇

基于鸽群层级交互的有人/无人机集群一致性控制

赵建霞¹, 段海滨¹(), 赵彦杰², 范彦铭³, 魏晨¹

1.北京航空航天大学自动化科学与电气工程学院, 北京100083
2.中国电子科技集团公司电子科学研究院, 北京 100041
3.中国航空工业集团公司沈阳飞机设计研究所, 沈阳 110035

收稿日期:2020-05-25 出版日期:2020-09-28 发布日期:2020-10-10
通讯作者: 段海滨 E-mail:hbduan@buaa.edu.cn
作者简介:赵建霞(1995-),女,云南省大理市人,硕士生,主要从事无人机自主控制的研究
基金资助:
国家自然科学基金项目(91948204);国家自然科学基金项目(U19B2033);科技创新2030—“新一代人工智能”重大项目(2018AAA0102403)

Consensus Control of Manned-Unmanned Aerial Vehicle Swarm Based on Hierarchy Interaction of Pigeons

ZHAO Jianxia¹, DUAN Haibin¹(), ZHAO Yanjie², FAN Yanming³, WEI Chen¹

1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083,China
2. CETC, China Academy of Electronics and Information Technology, Beijing 100041, China
3. Shenyang Aircraft Design and Research Institute, Aviation Industry Corporation of China,Shenyang 110035, China

Received:2020-05-25 Online:2020-09-28 Published:2020-10-10
Contact: DUAN Haibin E-mail:hbduan@buaa.edu.cn

摘要/Abstract

摘要：

有人/无人机共融集群中的有人机可弥补无人机在复杂环境中能力的不足.利用鸽群层级交互机制能够高效传递信息的特点,提出一种有人/无人机集群一致性控制方法.根据动力学约束与人类行为特点,建立无人机动力学模型和多通道的有人机操作员模型.在此基础上,通过鸽群层级交互机制构建集群系统的层级交互网络:有人机对等级较高的无人机发送指令,并通过层级网络影响整个无人机群体.设计可节约资源的自适应牵制控制策略,实现有人/无人机集群运动状态的一致性.此外,对系统稳定性进行简要分析.仿真结果验证了方法的有效性.

关键词: 有人/无人机集群, 鸽群智能, 协同运动, 层级交互机制, 一致性控制

Abstract:

The manned aerial vehicle (MAV) in manned-unmanned aerial vehicle swarm (MUMS) can compensate for the inabilities of unmanned aerial vehicles (UAVs) in complex conditions. Taking the advantage of the information-efficient transmission of hierarchical interaction mechanism of pigeons, a novel method for consensus control of MUMS was proposed. According to the constraints and the human behavior characteristics, a dynamic model of UAVs and a multi-channel operator model were established, based on which, a hierarchical interaction network was constructed. In this network, the flight decisions of MAV affect the individuals with higher ranks. Then these UAVs affect the remaining UAVs through the leadership hierarchical network. Therefore, an adaptive containment control strategy was proposed to reduce the costs, and achieve motion consistency of MUMS. In addition, the stability of the system was analyzed. Moreover, the effectiveness of the proposed method was verified by simulations.

Key words: manned-unmanned aerial vehicle swarm (MUMS), pigeon intelligence, cooperative motion, hierarchical interaction mechanism, consensus control

中图分类号:

TP273

赵建霞, 段海滨, 赵彦杰, 范彦铭, 魏晨. 基于鸽群层级交互的有人/无人机集群一致性控制[J]. 上海交通大学学报, 2020, 54(9): 973-980.

ZHAO Jianxia, DUAN Haibin, ZHAO Yanjie, FAN Yanming, WEI Chen. Consensus Control of Manned-Unmanned Aerial Vehicle Swarm Based on Hierarchy Interaction of Pigeons[J]. Journal of Shanghai Jiaotong University, 2020, 54(9): 973-980.

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基于鸽群层级交互的有人/无人机集群一致性控制

Consensus Control of Manned-Unmanned Aerial Vehicle Swarm Based on Hierarchy Interaction of Pigeons

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