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基于纳什议价的无人机编队自主重构控制方法

DOI: 10.3724/SP.J.1004.2013.01349, PP. 1349-1359

Keywords: 无人机,编队重构,分布式预测控制,纳什议价

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Abstract:

?针对任务环境下携带不同载荷的无人机(Unmannedaerialvehicles,UAVs)组成的编队,为实现无人机间的相互支援和补充而进行编队重构控制,运用多目标多人博弈理论,将其转化为纳什谈判过程.结合分布式模型预测控制(Distributedmodelpredictivecontrol,DMPC)方法,设计一种基于纳什谈判的分布式预测控制(Nashbargainingsolution-DMPC,NBS-DMPC)算法求解该问题,并对算法收敛性进行了证明.仿真实验表明,该算法能够有效控制编队自主重构,实现编队无人机间的威胁规避和协同保护,同时能够有效降低无人机编队自主重构控制问题的求解规模.

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