摘要
针对无人机集群打击海面运动目标的时空协同问题,提出了一种指定时间协同控制方法。将每架无人机与其邻居之间的相对运动转化为含指定末端时刻的最优跟踪器,针对打击构型生成、打击构型保持两个含指定时间参数的控制目标,分别设计了不同的二次代价函数,通过龙格库塔法求解控制律,可以驱动无人机集群在指定时刻精准地生成打击构型,实现同时打击,并在后续指定时段内保持打击构型,实现持续打击。仿真实验结果证明,无人机集群可在指定时刻生成期望的编队构型并保持期望构型,对运动目标实现跟踪。
Aiming at the space-time cooperative problem of UAV swarm attacking moving targets on the sea surface,a designated time cooperative control method is proposed.The relative motion between each UAV and its neighbors is transformed into an optimal tracker with a specified end time.Different quadratic cost functions are designed for the two control objectives with the specified time parameters,namely,strike configuration generation and strike configuration maintenance.By solving the control law by Runge Kutta method,the UAV cluster can be driven to accurately generate the strike configuration at the specified time,realize simultaneous strike,and maintain the strike configuration in the subsequent specified time period,so as to realize continuous strike.The simulation results show that the UAV cluster can generate and keep the desired formation configuration at the specified moment,and track the moving target.
作者
冯政
吴傲
王谦喆
FENG Zheng;WU Ao;WANG Qianzhe(Air Traffic Control and Navigation College Air Force Engineering University,Xi'an 710000 China;Shaanxi Province Lab of Meta-synthesis for Electronic&Information System,Xi'an 710000 China)
出处
《电光与控制》
CSCD
北大核心
2022年第9期43-47,共5页
Electronics Optics & Control
基金
陕西省电子信息系统综合集成重点实验室项目(202201A)。
关键词
无人机集群
协同打击
协同控制
海面目标
UAV swarm
cooperative strike
cooperative control
sea-surface target
