کنترل آرایش متغیر بازمان سیستم‌های چندعاملی پرنده بدون‌سرنشین با ورودی رهبر نامعلوم

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 گروه مهندسی برق-کنترل، دانشکده فنی و مهندسی، دانشگاه بین الملل امام خمینی (ره)

2 گروه مهندسی برق-کنترل، دانشکده فنی و مهندسی، دانشگاه بین المللی امام خمینی (ره)، قزوین، ایران

3 دانشکده مهندسی برق دانشگاه صنعتی شریف

چکیده

کنترل آرایش متغیر با زمان سیستم چندعاملی برای اجسام پرنده بدون سرنشین در ساختار رهبر- پیرو در این مقاله مورد مطالعه قرارگرفته است. فرض بر این است که تعداد عوامل در حین حرکت تغییر می‌‌کند. با تغییر تعداد عوامل، آرایش مطلوب نیز، به‌صورت چندضلعی‌های منتظم با اضلاع ثابت به‌گونه‫ای تغییر می‫‫یابد که فاصله نسبی پیروهای همسایه از یکدیگر ثابت نگه ‌داشته ‌‌شود. یک کنترل‌کننده دو حلقه‌‌ای ارائه ‌شده است که در آن، حلقه داخلی با استفاده از قانون کنترل خطی‌ساز بازخورد، دینامیک عوامل را خطی می‌‌کند. حلقه بیرونی نیز، یک کنترل کننده بازخورد حالت انتگرالی است که از بردار موقعیت نسبی و سرعت نسبی همسایگان برای حفظ آرایش در اجماع بهره می‌‌برد. پیروها از مسیر رهبر اطلاعی ندارند و فقط با حفظ فاصله نسبی نسبت به همسایگان خود آرایش را حفظ و رهبر را دنبال می‌‌کنند. ضرایب کنترلی به‌صورت غیر برخط و با حل معادله جبری ریکاتی و بر اساس قضیه گراف تعیین می‌‌شود و لذا نیازی به تنظیم برخط ضرایب نیست. پایداری سیستم حلقه بسته تحت قانون کنترل پیشنهادی از طریق قضیه پایداری لیاپانوف بررسی‌ شده و شبیه‌سازی‌های مختلفی برای نشان دادن توانایی کنترل‌کننده پیشنهادی انجام ‌شده است.

کلیدواژه‌ها

عنوان مقاله [English]

Time Varying Formation Control of Unmanned Aerial Vehicle Multi-Agent Systems with Unknown Leader Input

نویسندگان [English]

  • Mojtaba Zaeri Amirani 1
  • Nooshin Bigdeli 2
  • Mohammad Haeri 3
1 Control Eng. Department, Faculty of Technical and Eng., Imam Khomeini International University
2 Control Engineering Department, Faculty of Technical & Engineering, Imam Khomeini International University, Qazvin, Iran
3 Department of Electrical Engineering Sharif University of Technology
چکیده [English]

Time-varying motion consensus and formation control of leader-follower unmanned aerial vehicle multi-agent system (UAV-MAS) is studied, in this paper. It is assumed that the number of agents changes during the motion. According to the variations in number of agents, the desired formation would also change in the form of various regular polygons in such a way that, whose sides, which are the relative distances of the neighboring followers from each other, are kept constant. A two-loop controller is provided, in which, the internal loop uses the feedback linearization control law to linearize the dynamics of the agents. In the outer loop, an integral state feedback controller is employed as a new consensus formation controller based on the relative position and velocity vectors of neighboring agents. The followers do not know the path of the leader and only maintain the formation and track the leader by maintaining their relative distance with their neighbors. Controller coefficients are determined offline by solving the algebraic Riccati equation and based on the graph theory. Therefore, no online tuning is needed.  Closed loop stability of system under the proposed control law would be investigated via the Lyapunov stability theorem and various simulations are performed to illustrate the capability of the proposed controller.

کلیدواژه‌ها [English]

  • Multi-agent system
  • Time-varying formation
  • Consensus
  • Leader-follower
  • Laplacian matrix

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سابقه مقاله

  • تاریخ دریافت: 01 خرداد 1399
  • تاریخ بازنگری: 02 شهریور 1399
  • تاریخ پذیرش: 17 مرداد 1400
  • تاریخ انتشار: 01 مرداد 1400

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