| Nowadays,the consensus problem of multi-agent system has become a research hotspot.In the multi-agent system,consensus means certain state of multi-agent tends to be same as time goes on;the consensus algorithm is designed to achieve this problem.This paper takes unmanned aerial vehicle(UAV)as research object,and studies on multi-UAV's cooperative control method,the main contents include:Aiming at decentralized control problem of multi-UAV arriving at the same time under the influence of wind,a decentralized control method is established.According to the different starting point,flying orientation,and distance,the control model of UAV is established,then a decentralize control method of multi-UAV arriving at the same time under the influence of wind is proposed.Aiming at the control strategy problem of multi-UAV arrival simultaneous under uncertain environment,express the uncertain distance information by interval value,combine the auction algorithm with interval consensus algorithm,a control algorithm of multi-UAV arrival simultaneous under uncertain environment is presented.The cooperative control problem of multi-UAV arriving at multi-target under condition of no emergent threat and unexpected threat are simulated respectively.The simulation results demonstrate that the method could realize multi-UAV arriving at multi-target simultaneously,and the calculation is simple and valid.Aiming at the cooperative control problem of multi-UAV cooperative tracking multi-UAV formation,a decentralized cooperative tracking control method is proposed.Through establishing the UAV formation model,the multi-UAV formation tracking motion model by using the consensus algorithm is established,then multi-UAV formation tracking method based on consensus algorithm is proposed,and the purpose of tracking hostile UAV formation in real time is achieved.At last,the research results in this paper are summarized,the limitation of this paper and some suggestion on this field are indicated. |
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