无人机集群牵制控制系统特征值分析

doi:10.12305/j.issn.1001-506X.2022.02.31

Abstract

Abstract:

This paper studies the effect of pinning control on the consensus of unmanned aerial vehicle (UAV) swarm. Firstly, the second-order dynamics model of UAV swarm is established based on complex network and graph theory. Secondly, the distributed control protocol is designed and the augmented Laplacian matrix of the swarm system is constructed. The minimum eigenvalue of the augmented Laplacian matrix reflects the uniform convergence rate, connectivity and robustness of the swarm system. Finally, the influence by adding pinning points on the dynamic performance of the system is analyzed, and the scope of the minimum eigenvalue is obtained based by the properties of M matrix. This paper provides the theoretical basis for the design and performance analysis for the pinning control.

Key words: pinning control, Laplace matrices, matrix eigenvalues

CLC Number:

TP13

Jintao LIU, Ming HE, Ling LUO, Qiang LIU, Minggang YU. Eigenvalue analysis of the pinning control system of unmanned aerial vehicle swarm[J]. Systems Engineering and Electronics, 2022, 44(2): 612-618.

Figures/Tables 9

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Eigenvalue analysis of the pinning control system of unmanned aerial vehicle swarm

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