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考虑避免碰撞的编队卫星自适应协同控制 总被引:1,自引:0,他引:1
基于势函数法研究具有模型不确定性的编队飞行卫星避免碰撞的自适应协同控制.势函数法的思想为设计碰撞区域势函数值较大,所设计的控制律使得系统势函数具有减小的趋势,从而实现避免碰撞的编队飞行任务.首先,在无外部参考轨迹的情况下,通过引入避免碰撞势函数,提出一种自适应协同控制器,编队卫星最终实现速度一致和避免碰撞.进一步,考虑已知外部参考轨迹的情形,基于新的势函数方法,设计新的自适应协同控制器,能够同时实现避免碰撞、速度一致、卫星跟踪参考轨迹的目的.对于所提出的两种控制方法,均通过合理地应用Lyapunov稳定性理论分析了闭环系统的稳定性.仿真结果表明了所设计控制方法的有效性. 相似文献
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《飞行力学》2020,(4)
针对多UAV在协同standoff跟踪目标过程中初始航向不收敛和UAV间实现相位协同时间较长的问题,首先在Lyapunov矢量场对UAV进行导引跟踪的基础上,利用UAV初始航向误差角指令设计了一种能满足任意初始航向收敛的方法,该方法可使UAV航向与矢量场的理想航向对齐,并确保在收敛过程中转弯速率不会超出约束范围。然后,在非对称持久性架构的基础上提出了一种速度指令控制的多UAV相位修正算法,该算法能够使UAV在跟踪目标初期就对相位进行修正,缩短了相位协同的时间。经过航向调整与相位修正后,多UAV实现了协同standoff跟踪,仿真结果验证了该设计方法的准确性与有效性。 相似文献
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针对传统UAV编队控制律显式考虑约束能力不强的不足,基于预测控制方法和虚拟结构控制策略,设计了一种分布式编队控制律。该控制律能显式地考虑各种约束,每个UAV仅需要滚动求解有限时域优化问题得到自身控制输入,提出了一种简单的代价惩罚的方法实现障碍规避,并将优先级策略引入UAV之间避碰中。仿真结果表明,所设计的编队控制律具有... 相似文献
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多基地多无人机协同侦察问题研究 总被引:4,自引:0,他引:4
充分考虑侦察目标的侦察分辨率要求和侦察时间窗约束,以及位于不同基地的无人机(UAV)的侦察性能和可用数目,首次建立了更加贴近军事应用实际的多基地多UAV协同侦察问题(M-MUCRP)的数学模型,并提出了解决该模型的多基地多UAV协同侦察进化算法(M-MUCREA)。M-MUCREA的染色体数据结构有效地表达了问题的解,有利于交叉、变异等进化操作;充分利用与目标侦察分辨率要求以及目标位置和时间窗约束相关的启发信息,构造初始种群,避免进化过程收敛太慢;基于Pareto最优概念的选择算子确保解在多个目标上的有效优化;精英策略避免了丢失进化过程中产生的非劣解,加快算法收敛;变异和交叉算子在保证有效解的前提下,实现了解的多样性,避免了算法陷入局部最优。仿真实验验证了算法能够有效解决M-MUCRP。 相似文献
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基于分布式模型预测控制的多UAV协同区域搜索 总被引:3,自引:0,他引:3
针对多无人机(UAV)协同区域搜索问题展开研究。提出了一种基于分布式模型预测控制(DMPC)的多UAV分布式优化搜索方法。首先基于传统的搜索图模型,建立了多UAV协同搜索的问题描述和状态空间模型,然后在DMPC框架下,将集中式多UAV在线优化决策问题转化为各架UAV的小规模分布式优化问题,采用基于纳什最优和粒子群优化(PSO)相结合的算法实现对每个子系统优化问题的迭代求解。仿真结果表明:DMPC方法能够有效地降低多UAV协同搜索决策问题的求解规模,是一种可行的方法。 相似文献
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Chan-oh Min Dae-woo Lee Kyeum-rae Cho Sung-jin Jo Jang-sik Yang Won-boo Lee 《Aerospace Science and Technology》2011,15(4):269-282
The reentry vehicle is affected by various disturbances such as a wind gust, atmospheric condition or aerodynamic problems in the approach and landing phase. Therefore it is necessary to design a robust control scheme. This paper presents a control scheme using Mamdani fuzzy PD controller. In this paper, the reference trajectories are generated using geometric parameters for disturbed circumstances with 4 cases: nominal, headwind and tailwind, drag increased case. Then, a Mamdani fuzzy PD controller was designed in this study. Twenty-five rules were applied in the knowledge-based system. The max–min method for a fuzzy inference system and the center-of-mass method in defuzzification were used. Finally, guidance and control simulations are performed for verification of proposed controller using generated reference trajectories. In addition, the Monte Carlo simulation is performed considering various disturbances. The results show that proposed Mamdani fuzzy PD controller has reliability and robustness for control of reentry vehicle with wind disturbance in the approach and landing phases. 相似文献
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自主多无人机的分散化协同控制 总被引:1,自引:0,他引:1
协同前提是无人机(UAV)平台间的通信和信息共享,无人机平台之间信息和计算是高度分布的,无人机平台的运动以及通信拓扑的变化,使得集中式协调控制结构很难实现。以最小通信量为基础的分散协同控制具有可扩展性、异构性和动态可重构性等特点,可靠性和鲁棒性较好。针对多无人机平台分散化协同的特点和要求,建立了集中和分散相结合的多无人机平台协同控制系统结构,集中式任务管理系统主要完成目标分配、通信管理和编队管理功能,分散式协同部分主要实现局部任务规划、协调策略及协调控制等功能。分别以多机协同目标跟踪、多机和多编队一致性协调、多机协同编队控制与重构等多无人机平台分散化协同控制技术为应用对象,探讨了分散化协调机制、策略、控制及其与信息之间关系。给出了部分算法的仿真结果。 相似文献
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基于T-S模糊系统的空天飞行器鲁棒自适应轨迹线性化控制 总被引:1,自引:0,他引:1
基于T-S模糊系统提出了鲁棒自适应轨迹线性化控制(RATLC)方法。利用T-S模糊系统逼近未知干扰和不确定性因素,并采用Lyapunov方法设计了鲁棒自适应控制律。不论系统状态的维数和用于逼近不确定的模糊系统规则数为多少,整个系统仅有两个参数在线调整。理论分析证明了闭环系统所有信号一致最终有界。应用提出的控制方案设计了空天飞行器(ASV)飞行控制系统,并在高超声速飞行条件下进行了仿真验证,仿真结果表明了控制方案的有效性和鲁棒性。 相似文献
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A unified approach to the design of decentralized detection networks with arbitrary topologies is proposed and analyzed. In this approach, a decentralized detection system of arbitrary topology is represented by a communication matrix that specifies the interconnection structure of the detection network. This matrix is used to derive the general decision rule using the person-by-person-optimal (PBPO) solution methodology. It is shown that the PBPO decision rule is a likelihood ratio test for statistically independent observations. The threshold of the test is shown to be a function of the decision input vector of the detector under consideration. This unified approach is used to obtain the PBPO decision rules of decentralized detection systems with various topologies. Various results in the literature are verified. In addition, the PBPO decision rules for a decentralized detection system with peer communication are presented. Numerical examples are presented for illustration 相似文献
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《中国航空学报》2016,(3):688-703
An adaptive sliding mode control(ASMC) law is proposed in decentralized scheme for trajectory tracking control of a new concept space robot.Each joint of the system is a free ball joint capable of rotating with three degrees of freedom(DOF).A cluster of control moment gyroscopes(CMGs) is mounted on each link and the base to actuate the system.The modified Rodrigues parameters(MRPs) are employed to describe the angular displacements,and the equations of motion are derived using Kane's equations.The controller for each link or the base is designed separately in decentralized scheme.The unknown disturbances,inertia parameter uncertainties and nonlinear uncertainties are classified as a ‘‘lumped" matched uncertainty with unknown upper bound,and a continuous sliding mode control(SMC) law is proposed,in which the control gain is tuned by the improved adaptation laws for the upper bound on norm of the uncertainty.A general amplification function is designed and incorporated in the adaptation laws to reduce the control error without conspicuously increasing the magnitude of the control input.Uniformly ultimate boundedness of the closed loop system is proved by Lyapunov's method.Simulation results based on a three-link system verify the effectiveness of the proposed controller. 相似文献
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多无人机同时到达的分散化控制方法 总被引:6,自引:0,他引:6
多无人机(UAV)同时到达是典型的协同控制问题,在编队飞行、协同攻击中都有应用。以多无人机协同多目标攻击为应用背景,对多无人机同时到达问题进行了研究。考虑到战场环境的动态性和不确定性以及无人机自身的特点,提出一种适用于多无人机同时到达的分散化控制方法,其内容包括仅依靠局部信息交互的分散化控制结构和基于一致性算法的分散化控制策略。为方便操作员控制无人机群体的整体行为,分别设计了引入外部参考信号和虚拟Leader的分散化控制策略。根据路径规划和速度控制的不同特点将二者结合起来,利用它们的互补优势来应对路径误差和突发威胁等不利因素的影响。仿真结果表明,本文提出的分散化控制方法能够实现多无人机同时到达,并且具有很好的灵活性、鲁棒性、可靠性和可伸缩性。 相似文献
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A conceptual generalization of the Wald's sequential probability ratio test (SPRT) to a decentralized environment is presented. The local tests are chosen to be SPRT's, which quantize the temporally independent identically distributed (IID) observations into three levels for transmission to the fusion detector. Spatial independence among the local observations is assumed. The fusion test is also an SPRT. An analysis for the decentralized scheme is developed. Performance comparisons with the centralized and other decentralized schemes are presented 相似文献