2.765

2022影响因子

(CJCR)

  • 中文核心
  • EI
  • 中国科技核心
  • Scopus
  • CSCD
  • 英国科学文摘

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

基于纳什议价的无人机编队自主重构控制方法

茹常剑 魏瑞轩 戴静 沈东 张立鹏

茹常剑, 魏瑞轩, 戴静, 沈东, 张立鹏. 基于纳什议价的无人机编队自主重构控制方法. 自动化学报, 2013, 39(8): 1349-1359. doi: 10.3724/SP.J.1004.2013.01349
引用本文: 茹常剑, 魏瑞轩, 戴静, 沈东, 张立鹏. 基于纳什议价的无人机编队自主重构控制方法. 自动化学报, 2013, 39(8): 1349-1359. doi: 10.3724/SP.J.1004.2013.01349
RU Chang-Jian, WEI Rui-Xuan, DAI Jing, SHEN Dong, ZHANG Li-Peng. Autonomous Reconfiguration Control Method for UAV’s Formation Based on Nash Bargain. ACTA AUTOMATICA SINICA, 2013, 39(8): 1349-1359. doi: 10.3724/SP.J.1004.2013.01349
Citation: RU Chang-Jian, WEI Rui-Xuan, DAI Jing, SHEN Dong, ZHANG Li-Peng. Autonomous Reconfiguration Control Method for UAV’s Formation Based on Nash Bargain. ACTA AUTOMATICA SINICA, 2013, 39(8): 1349-1359. doi: 10.3724/SP.J.1004.2013.01349

基于纳什议价的无人机编队自主重构控制方法

doi: 10.3724/SP.J.1004.2013.01349
基金项目: 

中国航空科学基金(20101996012)资助

详细信息
    作者简介:

    茹常剑 空军工程大学博士研究生. 主要研究方向为无人机编队控制及安全性.E-mail: ruchangjian@126.com

Autonomous Reconfiguration Control Method for UAV’s Formation Based on Nash Bargain

Funds: 

Supported by National Aviation Science Foundation of China (20101996012)

  • 摘要: 针对任务环境下携带不同载荷的无人机(Unmanned aerial vehicles, UAVs)组成的编队, 为实现无人机间的相互支援和补充而进行编队重构控制, 运用多目标多人博弈理论, 将其转化为纳什谈判过程. 结合分布式模型预测控制(Distributed model predictive control, DMPC)方法, 设计一种基于纳什谈判的分布式预测控制(Nash bargaining solution-DMPC, NBS-DMPC)算法求解该问题, 并对算法收敛性进行了证明. 仿真实验表明, 该算法能够有效控制编队自主重构, 实现编队无人机间的威胁规避和协同保护, 同时能够有效降低无人机编队自主重构控制问题的求解规模.
  • [1] Fan Qiong-Jian, Yang Zhong, Fang Ting, Shen Chun-Lin. Research status of coordinated formation flight control for multi-UAVs. Acta Aeronautica Et Astronautica Sinica, 2009, 30(4): 683-691 (樊琼剑, 杨忠, 方挺, 沈春林. 多无人机协同编队飞行控制的研究现状. 航空学报, 2009, 30(4): 683-691)
    [2] Zhang Xiao-Qin, Huang Yu-Qing, Liu Gang. Research on improved leader-following formation method. Computer Engineering and Design, 2010, 31(11): 2547-2549 (张晓琴, 黄玉清, 刘刚. 基于改进的领导--跟随者编队算法研究. 计算机工程与设计, 2010, 31(11): 2547-2549)
    [3] de Vries E, Subbarao K. Cooperative control of swarms of unmanned aerial vehicles. In: Proceedings of the 49th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition. Orlando, Florida: AIAA, 2011. 1-23
    [4] Liao F, Wang J L. Formation and reconfiguration control for nonholonomic UAVs with velocity constraints. In: Proceedings of the 2012 AIAA Guidance, Navigation, and Control Conference. Minneapolis, Minnesota: AIAA, 2012. DOI: 10.2514/6.2012-4823
    [5] Hattenberger G, Alami R, Lacroix S. Planning and control for unmanned air vehicle formation flight. In: Proceedings of the 2006 International Conference on Intelligent Robots and Systems. Beijing, China: IEEE, 2006. 5931-5936
    [6] Hattenberger G, Lacroix S, Alami R. Formation flight: evaluation of autonomous configuration control algorithms. In: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego, CA: IEEE, 2007. 2628-2633
    [7] Song Min, Wei Rui-Xuan, Hu Ming-Lang. Unmanned aerial vehicle formation control for reconnaissance task based on virtual leader. Systems Engineering and Electronics, 2010, 32(11): 2412-2415 (宋敏, 魏瑞轩, 胡明朗. 基于虚拟长机的无人机侦察编队控制方法. 系统工程与电子技术, 2010, 32(11): 2412-2415)
    [8] Kang Y, Hedrick J K. Design of nonlinear model predictive controller for a small fixed-wing unmanned aerial vehicle. In: Proceedings of the 2006 AIAA Guidance, Navigation, and Control Conference and Exhibit. Keystone, Colorado: AIAA, 2006. 21-24
    [9] Kalai E, Smorodinsky M. Other solutions to Nash's bargaining problem. Econometrica, 1975, 43(3): 513-518
    [10] Nash J F Jr. The bargaining problem. Econometrica, 1950, 18(2): 155-162
    [11] Zheng Cheng, Jin Sun, Lai Xin-Min, Li Yu-Bing. Tolerance allocation optimization based on non-cooperative game analysis. Journal of Mechanical Engineering, 2009, 45(10): 159-165 (郑丞, 金隼, 来新民, 李余兵. 基于非合作博弈的公差分配优化. 机械工程学报, 2009, 45(10): 159-165)
    [12] Li Deng-Feng. Fuzzy Multiobjective Many-Person Decision Makings and Games. Beijing: National Defence Industry Press, 2003 (李登峰. 模糊多目标多人决策与对策. 北京: 国防工业出版社, 2003)
    [13] Li S Y, Zhang Y, Zhu Q M. Nash-optimization enhanced distributed model predictive control applied to the shell benchmark problem. Information Sciences, 2005, 170(2-4): 329-349
  • 加载中
计量
  • 文章访问数:  2135
  • HTML全文浏览量:  107
  • PDF下载量:  1534
  • 被引次数: 0
出版历程
  • 收稿日期:  2012-07-09
  • 修回日期:  2013-01-28
  • 刊出日期:  2013-08-20

目录

    /

    返回文章
    返回