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| 1 | 基于任务接力的多无人机协同目标分配方法显示文摘针对目标重要度动态变化的多无人机协同目标分配问题,综合考虑无人机异构性和地理环境约束,以提高多无人机系统整体续航时间为目的,提出基于任务接力的多无人机协同目标分配调度策略.设置了3种典型的调度策略作为对照算法,通过仿真实验对调度次数、能耗效率等6个性能指标进行综合分析.结果表明,该算法能够均衡多无人机系统电量消耗,缩短调度任务的完成时间,提高多无人机系统整体续航能力. | 闫辉 包卫东 王吉 张大宇 | 2021 | 指挥与控制学报2021，7，2： | 3 |
| 2 | 面向协同区域反恐侦察的无人机集群规划与控制显示文摘以无人机集群协同侦察多个区域内潜在的恐怖分子为背景,提出了一种基于贪婪算法的求解思路,设计了任务分配-路径规划-跟踪控制的算法流程,解决了面向协同区域反恐侦察的无人机集群规划与控制问题。首先,设计任务分配算法,为无人机分配任务区域,解决多无人机多目标的任务分配问题;然后,每一架无人机进行路径规划,生成从当前点到任务区域以及在任务区域侦察的组合路径;再使用追踪虚拟目标点的方法,使无人机沿着规划航线飞行。任务分配-路径规划-跟踪控制在线滚动执行,使无人机集群协同执行反恐侦察任务。对上述算法进行了数值仿真,并基于开源仿真平台搭建复合翼无人机协同仿真环境,进一步验证了算法流程。 | 陈浩 李思红 卢永光 王祥科 | 2022 | 无人系统技术2022，5，5： | 2 |
| 3 | Consensus of multi-vehicle cooperative attack with stochastic multi-hop time-varying delay and actuator fault显示文摘A consensus-distributed fault-tolerant(CDFT)control law is proposed for a class of leader-following multi-vehicle cooperative attack(MVCA)systems in this paper.In particular,the switching communication topologies,stochastic multi-hop timevarying delays,and actuator faults are considered,which may lead to system performance degradation or on certain occasions even cause system instability.Firstly,the estimator of actuator faults for the following vehicle is designed to identify the actuator faults under a fixed topology.Then the CDFT control protocol and trajectory following error are derived by the relevant content of Lyapunov stability theory,the graph theory,and the matrix theory.The CDFT control protocol is proposed in the same manner,where a more realistic scenario is considered,in which the maximum trajectory following error and information on the switching topologies during the cooperative attack are available.Finally,numerical simulation are carried out to indicate that the proposed distributed fault-tolerant(DFT)control law is effective. | CAI Guangbin ZHAO Yushan ZHAO Yang HU Changhua | 2021 | Journal of Systems Engineering and Electronics2021，32，1： | 1 |
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