Topology Optimized Fixed-time Consensus for Multi-UAV System in a Multipath Fading Channel
Topology Optimized Fixed-time Consensus for Multi-UAV System in a Multipath Fading Channel
复制标题
多径衰落信道中多无人机系统拓扑优化固定时间一致性
DOI：
10.1049/iet-com.2019.0699
复制
发表时间：
2020
影响因子：
1.6
通讯作者：
Zhihua Yang
中科院分区：
文献类型：
--
作者：
Lei Hao;Xiaohan Qi;Zhihua Yang
时变连通性是在多径衰落信道中控制多无人机编队面临的主要挑战之一，导致编队控制律精度低、收敛时间长。针对这一问题，提出了一种基于拓扑优化的分散共识的多无人机系统控制方法，提出了编队结构重构方案和发射功率分配算法，在有限的收敛时间内保证了控制精度。特别地，通过将拓扑的拉普拉斯矩阵的第二特征值作为连通度的可行指标，很好地设计了拓扑优化的目标函数。为了提高信息传输的效率，提出了一种特定的共识协议，该协议具有针对控制消息的定制的分组格式和信令过程。仿真结果表明，该协议在多径衰落信道下具有较高的收敛精度和较短的收敛时间，表明该协议在多径衰落信道下具有较强的适应性。
Time‐varying connectivity is one of main challenges faced by controlling a team of unmanned aerial vehicles (UAVs) in the multipath fading channel, incurring low accuracy and significant convergence time of formation control law. To address this issue, in this study, a topology optimised based decentralised consensus is developed for controlling a multi‐UAV system in a multipath fading channel, in which a formation structure reconfiguration scheme is proposed as well as a transmission power allocating algorithm to guarantee the control accuracy in a limited convergence time. In particular, the objective function for topology optimisation is well‐designed by considering the second eigenvalue of Laplacian matrix of topology as a feasible index of connectivity degree. To improve the efficiency of information transmission, a specified consensus protocol is proposed with well‐tailored packet format and signalling procedure for control messages. Through the comparative simulation results, the proposed consensus can achieve high convergence accuracy and less convergence time in a multipath fading channel, indicating high resilience of the proposed protocol under a multipath fading channel.