敌对环境中多非最小相位飞行器编队控制方法研究

项目名称： 敌对环境中多非最小相位飞行器编队控制方法研究

项目编号： No.61305132

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 彭琛

作者单位： 电子科技大学

项目金额： 25万元

中文摘要： 在敌对环境中，多飞行器编队的大机动性和通信网络的强动态性都是不可避免的。现有编队控制方法都没能很好地解决以下问题：1、如何提高编队中通信网络的抗毁性，被击损后如何恢复连通；2、如何设计编队策略，且飞行器具有非最小相位特征时，如何按编队策略进行航迹机动跟踪。对此，本项目将建立位置近邻演化网络模型及其相继故障模型，进行理论分析并提出网络抗毁策略和位置近邻集连通恢复策略；其次，利用"稳定系统中心"方法和有限时间收敛滑模控制方法，解决非线性非最小相位飞行器航迹跟踪问题，以此降低求解复杂性，保证因果性和鲁棒性；最后，构建分布式协同控制框架，综合考虑网络抗毁策略和连通恢复策略，对编队策略进行设计，并利用航迹跟踪实现多飞行器编队控制。本项目预期提出的网络设计策略、编队策略和非最小相位系统输出跟踪方法将保障飞行器在敌对环境中安全编队飞行。

中文关键词： 多飞行器；非最小相位；航迹跟踪；一致性；编队控制

英文摘要： In the hostile environment, the abrupt maneuver of the multiple aircrafts formation and the sharp change of the communication network are inevitaly. The existing formation control of multi-agent fail to resolve the following questions perfectly: 1, how to improve the viability of the communication network, and how to recover the connectivity if the communication network has been attacked. 2, how to design the formation strategy, and how to make the aircrafts track the trajectory which is produced by the formation strategy while the aircraft is a nonlinear and non-minimum-phase system. Therefore, the network is modeled based on the position proximity and its successive fault is modeled correspondingly in this project. Based on the analysis of these models, the strategy that improve the viability of the network is proposed. And the strategy that recover and maintain the connectivity of the network is proposed based on the position proximity set. Secondly, the method of stable system center and sliding mode control with finite-time convergence are used to resolve the trajectory tracking for the nonlinear and non-minimum-phase aircraft. The causal and robust solution can be obtained easily based on these methods. Finally, the framework of the distribute cooperative control is built, and the formation strategy is des

英文关键词： Multiple aircraft；non-minimum phase；trajectory tracking；consensus；formation control