基于一致性理论的多无人机协同控制和决策方法

项目名称： 基于一致性理论的多无人机协同控制和决策方法

项目编号： No.61203355

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 张庆杰

作者单位： 中国人民解放军空军航空大学

项目金额： 24万元

中文摘要： 多无人机（Unmanned Aerial Vehicle,UAV）协同作战是未来战场上UAV的主要作战样式和发展趋势。随着网络技术的发展成熟与广泛应用，网络环境下的多UAV协同作战将极大地提高了作战效能，但也给多机控制和决策技术带来了重大挑战，需要考虑网络时延、网络拓扑变化和不确定性扰动等通信条件带来的影响。受限网络条件下的多机协同作战是研究多UAV协同控制和决策技术的直接推动力，同时也是提升UAV系统自主能力的重要体现。本项目试图在多智能体一致性理论方面作些探索性研究，并以此为基础讨论多无人机协同控制和决策方法。首先，从网络约束条件下智能体能否实现一致性收敛入手，分析并给出网络约束条件边界值；其次，为使多智能体系统具有更好地收敛性能和优化性能，研究两类多智能体系统一致性算法：连通性保持和优化一致性。在此基础之上，应用多智能体一致性理论研究典型任务的多无人机协同控制和决策方法。

中文关键词： 多无人机协同控制；平均一致性；鲁棒一致性；快速一致性；优化一致性

英文摘要： Cooperative operation for multiple unmanned aerial vehicles(UAVs) is the main engagement manner and the trend of development in the future. With the rapid development and wide employment of the network technology, cooperative manner in networks may improve the operational efficiency greatly. There are also some significant challenges for distributed control and decision problems, such as the influence of the constraints conditions, i.e., network delays, time-varying network topologies and uncertain disturbances. It is not only the original impetus to cooperative control and decision of multi-UAV, but also it is an important manifestation of enhancing the autonomy of the UAV. This project investigates some exploratory work on the multi-agent system consensus theory, and as a means to discuss the cooperative control and decision method for multiple UAVs. Firstly, the problem of the convergence property of multi-agent under the network constraints is discussed, and the boundary of the constraints is given. Secondly, two consensus algorithms for multi-agent systems are investigated including connectivity maintaining algorithm and optimize consensus algorithm. Further, multi-agent consensus theory is employed to discuss the cooperative control and decision method for the typical mission of multiple UAVs.

英文关键词： cooperative control of multiple UAVs；average consensus；robust consensus；rapid consensus；optimal consensus