Abstract: Based on the communication topology from algebraic graph theory, the consensus protocol and coordination control of multiple unmanned aerial vehicles have always been a hot research topic in the field of automatic control. Since the attitude dynamics model of unmanned aerial vehicles is an Euler quaternion, the design of attitude synchronization controller of multiple unmanned aerial vehicles is very difficult to perform. Under time-varying communication topology, in this paper, the attitude synchronization control problem of multiple unmanned aerial vehicles is investigated. Furthermore, the implementation conditions of attitude synchronization are analyzed and the synchronization control algorithm is also designed. In the case of undirected graph and time-varying communication topology, it is proved that the attitude control algorithm can not only realize the attitude synchronization of multiple unmanned aerial vehicles, but also can guarantee the final angular velocity converge to zero. Under different circumstances of fixed switching cycles, time-varying, fast time-varying, slower time-varying, and isolated point in communication topology, based on the above results, the attitude synchronization control problems of multiple unmanned aerial vehicles are compared by computer simulation, and the effectiveness and the robustness of the proposed attitude synchronization control algorithm are also verified.

Key words: Multiple unmanned aerial vehicles, time-varying communication topological structures, Euler quaternion, consensus protocol, attitude synchronization

摘要： 通过代数图论建立通信拓扑，进行多无人机的一致性协议及其协调控制，一直是自动控制领域研究的热点。由于无人机的姿态动力学模型是一个欧拉四元组，因而多无人机的姿态同步控制器设计十分有挑战性。在时变通信拓扑条件下，对多无人机的姿态同步控制问题进行了研究，分析了姿态同步的一致性实现条件，设计同步控制算法。在无向、时变通信拓扑条件下证明了控制算法可以实现多无人机的姿态同步并且使最终角速度收敛于零。在此基础上，针对多无人机在切换周期固定、时变、快速时变、较慢时变以及通信拓扑中存在孤立点等不同情况下的姿态同步问题进行计算机仿真，验证了该姿态同步控制算法的有效性和鲁棒性。

关键词: 多无人机, 时变通信拓扑, 欧拉四元组, 一致性协议, 姿态同步