扑翼飞行器一致性编队控制二阶系统的研究

Research on Second Order System of Consistent Formation Control for Flapping Wing Aircraft

摘要: 近年来，随着科学技术的发展，扑翼飞行器的研究受到了领域更多人的重视。由于扑翼飞行器与固定翼和旋翼飞行器相比具有明显的优势，许多国家斥巨资对此项目进行了各项基础研究，大大加强了在此领域的研究力度。一致性编队控制作为扑翼飞行器的一个重要研究分支，受到了不同领域的学者们越来越多的关注。将扑翼飞行器看成一个智能体，则本文就着重对多智能体一致性编队控制系统做了如下一些工作：首先，介绍了研究该课题应具备的代数图论知识，并运用图论与矩阵分析描述了多智能体之间的拓扑结构，介绍了验证一致性稳定性的理论，以及一阶系统、带领导者的二阶系统的控制协议。其次，介绍了多智能体的一阶系统、二阶系统的模型以及领导者的概念，并分别给出了控制协议。其中，带领导者的二阶系统给出了两种不同情况的模型，分别为：仅有一位主领导者的二阶系统和多位领导者并行的二阶系统。最后，对于所给出的具有一位主领导者的多智能体二阶一致性编队控制系统，运用数学的方法，从理论上证明了模型的正确性，同时利用计算机模拟仿真的结果也验证了理论的正确性。

Abstract: In recent years, with the development of science and technology, more and more people pay more attention to flapping wing aircraft. Due to the obvious advantages of flapping wing aircraft compared with fixed wing and rotor aircraft, many countries have invested huge sums of money to carry out basic research on this project, which has greatly strengthened the research in this field. Consistent formation control, as an important research branch of flapping wing aircraft, has attracted more and more attention from scholars in different fields. The flapping wing aircraft is considered as an agent, and the following work is focused on the multi-agent consensus formation control system: first of all, the article introduces the knowledge of algebraic graph theory for studying the subject and describes the topological structure of multi-agent with the graph theory and matrix analysis. It also elaborates the theory of verifying the stability of the consistency, the first-order system and the control protocol of the two-order system with leaders. Secondly, the first order system of multi-agent, the model of two-order system and the concept of leader are introduced, and the control protocol is given respectively. Among them, the two-order system with leader gives two different models, namely, the two-order system with only one leader, and the two-order system with many leaders. Finally, for the two-order consensus formation control system with one master leader, the mathematical model is used to prove the correctness of the model. At the same time, the correctness of the theory is verified by computer simulation results.