复杂分布式通信环境下多无人机异步协调控制方法

Due to the communication delay and time-varying topology and other complex conditions, asynchronous coordinated control for Multi-UAV coordination system in distributed communication environment becomes inevitable. The major problem of asynchronous coordination control is the lack of systematic scientific research for control, including the asynchronous coordination system modeling, stability analysis and active asynchronous controller design in complex communication environment, which involves joint study of multi-disciplinary fields including information, communication, control and optimization. This project focuses on the new scientific problem of asynchronous control of multi-UAVs in complex distributed communication environment, and intends to solve the problem of asynchronous stability control and controller design from the theoretical level: 1. Construct unified framework for multi-UAV distributed asynchronous coordination control system to solve the problem of control-oriented system modeling; 2. Based on the aperiodic sampling theory, study the stability condition of multi-UAV asynchronous coordination system, and the evaluation method of the system oriented control metric; 3. Based on event-triggered autonomous coordinated asynchronous control technology, reduce the impact of communication on the control,  to achieve rational use of communication resources. This project aims to break through the theory and application of key technologies of multi-UAV coordinated control in complex communication environment, and promote the wide application of asynchronous coordination control in multi-UAV systems.

多无人机协调系统处于分布式通信环境中，通信时延与时变拓扑等复杂条件使得同步协调控制面临挑战，采用异步成为必然。异步协调控制面临的核心问题是缺少面向控制展开的系统性科学研究，具体包括复杂通信环境下的异步协调系统建模、稳定性分析以及主动异步控制器设计等，这涉及到信息、通信、控制与优化等多学科领域的交叉。本项目围绕复杂分布式通信环境下多无人机异步协调控制这一全新科学问题展开研究，力图从理论层面解决异步协调控制稳定性分析与控制器设计问题：构建多无人机分布式异步协调系统的统一框架，解决面向控制的系统建模问题；基于非周期采样理论研究多无人机异步协调系统的稳定性条件，寻求系统面向控制指标的评估方法；研究基于事件触发的自主协调主动异步控制技术，解决通信对控制的影响问题，实现通信资源合理利用。本研究旨在突破复杂通信环境下多无人机协调控制的若干理论与应用关键技术，推动异步协调控制在多无人机系统中的广泛应用。

本项目针对多无人机系统在复杂分布式通信条件下的异步协调控制问题，从控制理论角度系统性研究异步协调系统建模方法、稳定性分析以及主动异步控制器设计。围绕面向分布式通信环境的多无人机异步协调系统统一化架构设计问题，开展多无人机异步协调系统建模方法研究，构建了自主化无人机系统控制架构以及非周期采样表述下的异步协同控制模型，实现对具有时变动态网络、通信延时以及非线性动态特性协调系统的统一化建模；围绕复杂通信鲁棒的多无人机分布式异步协调系统稳定性分析问题，构建了非周期时变拓扑与部分异步条件下的系统稳定判据研究，提出了矩阵不等式形式的多无人机分布式异步协调系统稳定性充分条件，从非周期采样系统控制理论角度揭示了异步协调系统特征与非线性动态约束关系；围绕多无人机主动异步协调分布式控制问题，提出了一种基于QSR耗散的多无人机异步通信协调控制算法，实现了满足系统耗散性需求下的异步协调控制；围绕多无人机异步协同任务问题，分别提出基于离散映射规则的自适应差分进化多目标协同分配算法与基于SPIO算法的多无人机协同路径规划方法，实现了无人机在复杂通信任务环境下基于局部决策的全局任务最优；在搭建的仿真环境中实现了项目关键技术集成仿真、性能评估与实验验证。本研究为多无人机异步协调机制与控制策略奠定了工作基础。