基于欧椋鸟群聚集机制的无人机分散式协同控制OA
Decentralized Cooperative Control of Unmanned Aerial Vehicles Based on Emergent Mechanism of Starlings
针对当前无人机集群协同控制中通信负载与动态稳定性难以兼顾的瓶颈,本文旨在借鉴自然界椋鸟群的涌现性集体行为,设计一种分布式且无领导者的新型控制策略.通过模拟椋鸟群"分离—对齐—聚合"的自组织机理,构建仅依赖局部交互的控制律,并创新性地引入自适应切换的事件触发通信机制,以突破传统周期通信的带宽限制.结合李雅普诺夫稳定性理论,严格推导并证明了该策略在外界扰动下的鲁棒性边界,确保系统误差收敛于有界范围.数值仿真结果表明,该方法不仅能显著降低通信负担,还能在动态过渡阶段维持优异的瞬态性能与集群几何构型的稳定.本研究证实了生物启发式协同机制与自适应事件触发策略融合的有效性,揭示了资源受限条件下分布式集群系统的稳定性原理,为大规模无人机集群在物流配送及协同侦察等资源敏感型场景的落地应用提供了重要的理论依据.
A novel decentralized control approach for unmanned aerial vehicles(UAVs)based on emergent collective behavior identified in starling flocks is proposed in this paper.With the self-organizing principle of starling flocking separation,alignment and cohesion behaviors,a fully distributed leaderless control is designed based on local interaction only.It is augmented by an adaptive switching event-triggered communication protocol,a novelty which greatly reduces the communication load,yet maintains swarming cohesion and formation stability rigorously.Via the Lyapunov stability theory,the formation error can converge to a boundary range,robustness to disturbances and partial communication burden.Ultimately,the numerical simulations are presented to verify the effectiveness of the theoretical results.
梅宇;段海滨
北京航空航天大学自动化科学与电气工程学院飞行器一体化控制全国重点实验室,北京 100083,中国北京航空航天大学自动化科学与电气工程学院飞行器一体化控制全国重点实验室,北京 100083,中国
信息技术与安全科学
欧椋鸟群分散控制切换事件触发通信无人集群控制
starling flockingdecentralized controlswitching event-triggered communicationummanned aerial vehicle(UAV)swarm control
《南京航空航天大学学报（英文版）》 2026 (2)
145-157,13
This work was supported in part by the National Natural Science Foundation of China(Nos.624B2013,62350048,U2541218,T2121003,62533006).The authors would like to acknowledge the following people for their assistance:HUO Mengzhen,WEI Chen,SUN Yongbin,WANG Siyuan,and YUAN Yang,all with the National Key Laboratory of Aircraft Integrated Flight Con-trol,School of Automation Science and Electrical Engineer-ing,Beihang University.
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