Eigenvalue analysis of the pinning control system of unmanned aerial vehicle swarm

被引：0
|
作者：
Liu J. [1 ]
He M. [1 ]
Luo L. [1 ]
Liu Q. [1 ]
Yu M. [1 ]
机构：
[1] Command and Control Engineering College, Army Engineering University of the PLA, Nanjing
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2022年 / 44卷 / 02期
关键词：
Laplace matrices; Matrix eigenvalues; Pinning control;
D O I：
10.12305/j.issn.1001-506X.2022.02.31
中图分类号：
学科分类号：
摘要：
This paper studies the effect of pinning control on the consensus of unmanned aerial vehicle (UAV) swarm. Firstly, the second-order dynamics model of UAV swarm is established based on complex network and graph theory. Secondly, the distributed control protocol is designed and the augmented Laplacian matrix of the swarm system is constructed. The minimum eigenvalue of the augmented Laplacian matrix reflects the uniform convergence rate, connectivity and robustness of the swarm system. Finally, the influence by adding pinning points on the dynamic performance of the system is analyzed, and the scope of the minimum eigenvalue is obtained based by the properties of M matrix. This paper provides the theoretical basis for the design and performance analysis for the pinning control. © 2022, Editorial Office of Systems Engineering and Electronics. All right reserved.
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页码：612 / 618
页数：6
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