Open AccessStudy on stability control mechanism of multiple unmanned aerial vehicle cooperative system
Author(s) -
Ru Chang-Jian,
Wei Rui-xuan,
Shuai Dong
Publication year - 2014
Publication title -
wuli xuebao
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.199
H-Index - 47
ISSN - 1000-3290
DOI - 10.7498/aps.63.220202
Subject(s) - computer science , control theory (sociology) , stability (learning theory) , mechanism (biology) , lyapunov function , state (computer science) , control (management) , control system , scale (ratio) , function (biology) , lyapunov stability , control engineering , artificial intelligence , engineering , algorithm , physics , nonlinear system , evolutionary biology , electrical engineering , biology , quantum mechanics , machine learning
The excessive diffusion of multiple unmanned aerial vehicle (UAV) cooperative system may lead to the cooperative failure, but to control the system scale is a potential way to solve this problem. First, macroscopic motion characteristic of multi-UAV cooperative searching system is abstracted, and then motion model of the platform is established. Afterwards, by constructing an appropriate Lyapunov function, the stable control mechanism of this system and its stable control parameters are obtained. Simulation results verify the following two conclusions: 1) the proposed stable control mechanism can not only make multi-UAV system realizes the effective cooperation, but also can ensure the stability of this system; 2) when this system is in a stable state, its scale can be controlled effectively by adjusting the relevant control parameters.