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论文与完整源程序_电网论文源程序的博客-CSDN博客https://blog.csdn.net/liang674027206/category_12531414.html
分布式模型预测控制是一种控制方法,它通过将系统的控制问题分解到多个子系统,每个子系统独立进行预测和优化,从而实现对整个系统的协调控制。在多无人机系统中,这意味着每架无人机可以基于自身和邻近无人机的信息进行实时预测和调整,从而优化整个集群的行为。
共识控制则是一种通过设计控制策略,使多个自主系统(如无人机)在某些方面达成一致的控制方法。它确保所有无人机在目标位置、速度或其他状态变量上达成一致,从而实现协同工作。 结合这两种技术,可以实现更加高效和协调的无人机集群控制。分布式模型预测控制提供了灵活和适应性强的优化手段,而共识控制确保了集群内各无人机的一致性和协调性。这种组合方法在执行复杂任务时,如区域监测或搜索救援任务时,能够显著提升集群的整体性能和可靠性。
部分代码展示:
close all;clear;
addpath 'data'
addpath 'uavA1'
% addpath 'uavShow'
% If you want to use other planning 5 trajectories files
% You should change as followws:
% 1. getWpp.m load '5jia.mat'
% 2. para_chap1.m load '5jia.mat'
% Change the name of '5jia.mat'
% And the simulink time also needs to adjusted if too long or long short
%----------------
uavW = 1;
save('uavW.mat','uavW');
sim('New_mavsim_chap12');
ii = 1;
eval(['x' num2str(ii) '= x;'])
eval(['path' num2str(ii) '= path;'])
eval(['waypoints' num2str(ii) '= waypoints;'])
save('x1.mat','x1','path1','waypoints1');
%----------------
clear;
uavW = 2;
uavi = uavW;
save('uavW.mat','uavW');
sim('New_mavsim_chap12');
ii = 2;
eval(['x' num2str(ii) '= x;'])
eval(['path' num2str(ii) '= path;'])
eval(['waypoints' num2str(ii) '= waypoints;'])
save('x2.mat','x2','path2','waypoints2');
%----------------
clear;
uavW = 3;
save('uavW.mat','uavW');
sim('New_mavsim_chap12');
ii = 3;
eval(['x' num2str(ii) '= x;'])
eval(['path' num2str(ii) '= path;'])
eval(['waypoints' num2str(ii) '= waypoints;'])
save('x3.mat','x3','path3','waypoints3');
%----------------
clear;
uavW = 4;
save('uavW.mat','uavW');
sim('New_mavsim_chap12');
ii = 4;
eval(['x' num2str(ii) '= x;'])
eval(['path' num2str(ii) '= path;'])
eval(['waypoints' num2str(ii) '= waypoints;'])
save('x4.mat','x4','path4','waypoints4');
%----------------
clear;
uavW = 5;
save('uavW.mat','uavW');
sim('New_mavsim_chap12');
ii = 5;
eval(['x' num2str(ii) '= x;'])
eval(['path' num2str(ii) '= path;'])
eval(['waypoints' num2str(ii) '= waypoints;'])
save('x5.mat','x5','path5','waypoints5');
%----------------
close all;clear;
load 'x1'
load 'x2'
load 'x3'
load 'x4'
load 'x5'
addpath 'uavShow'
sim('mavsim_show');
效果展示:
169号资源-源程序:基于分布式模型预测控制的多固定翼无人机的共识控制-本人博客有解读资源-CSDN文库https://download.csdn.net/download/LIANG674027206/89700626👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆下载资源链接👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆
《《《《《《《《更多资源还请持续关注本专栏》》》》》》》
论文与完整源程序_电网论文源程序的博客-CSDN博客https://blog.csdn.net/liang674027206/category_12531414.html