多无人机协同决策与控制仿真平台
所属分类：其他
开发工具：matlab
文件大小：412KB
下载次数：113
上传日期：2018-09-28 20:02:53
上 传 者：
凡逸
说明： 为了提高车辆编队控制效果，本文在领航跟随者方法的基础上，针对系统内参数的不确定性和外界干扰问题，将自适应和鲁棒控制方法应用于车辆编队，并依据图论相关知识确定了编队层数最少的编队队形组织规则。
(In order to improve the effectiveness of vehicle formation control, this paper applies adaptive and robust control methods to vehicle formation based on the pilot follower method, aiming at the uncertainties of parameters in the system and external disturbances, and determines the formation formation organization rules with the least number of formation layers according to graph theory.)
文件列表:
multiuav5\frontend.fig (38816, 2002-06-01)
multiuav5\dothis.m (785, 2003-08-18)
multiuav5\frontend.m (13075, 2002-08-04)
multiuav5\initthis.m (2154, 2002-06-01)
multiuav5\make_uavmodes.m (7265, 2002-07-27)
multiuav5\make_uavvr.m (7864, 2003-09-02)
multiuav5\myfish.wrl (2586, 2002-07-23)
multiuav5\sf_uavmode_template.mdl (15008, 2003-08-17)
multiuav5\stateic.fig (21192, 2002-06-01)
multiuav5\stateic.m (4837, 2002-06-01)
multiuav5\temp.wrl (4653, 2005-01-23)
multiuav5\UAV_anim_1.wrl (52982, 2003-07-28)
multiuav5\vehicledata.m (3760, 2002-08-05)
multiuav5\vehicles.mdl (377430, 2003-09-02)
multiuav5\vr_uav.wrl (331, 2003-08-21)
multiuav5\vehicles.html (545528, 2003-08-21)
multiuav5\AIAA Paper 2002-4977 .pdf (186312, 2002-07-31)
multiuav5\vehicles_sfun.dll (238080, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\info\binfo.mat (573, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\c1_vehicles.h (1849, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\c1_vehicles.c (94888, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.h (880, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.c (4799, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun_debug_macros.h (12378, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun_registry.c (4489, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.bat (55, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.lmk (1678, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.lmko (487, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.obj (4841, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun_registry.obj (27125, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\c1_vehicles.obj (90628, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\lccstub.obj (366, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.dll (238080, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.exp (47, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\src\vehicles_sfun.lib (2756, 2005-01-23)
multiuav5\sfprj\build\vehicles\sfun\info (0, 2008-09-22)
multiuav5\sfprj\build\vehicles\sfun\src (0, 2008-09-22)
multiuav5\sfprj\build\vehicles\sfun (0, 2008-09-22)
multiuav5\sfprj\build\vehicles (0, 2008-09-22)
... ...
QuickStart:
1) Bring up VEHICLES.MDL
2) Hit UPDATE SIM button on FrontEnd GUI
3) After the update has finished (see Matlab Command line), Hit RUN SIM button.
The following is a brief description of the files in this ZIP file.
DOTHIS.M
AIAA-2002-4495.pdf
FRONTEND.FIG
FRONTEND.M
INITTHIS.M
MAKE_UAVMODES.M
MAKE_UAVVR.M
MYFISH.WRL
SF_UAVMODE_TEMPLATE.MDL
STATEIC.FIG
STATEIC.M
TEMP.WRL
VEHICLEDATA.M
VEHICLES.MDL
VR_UAV.WRL
DOTHIS.M -
this m-file is used to update the simulation. During simulation update the
outline in this m file is followed. Namely, making the VR world file TEMP.WRL,
making the Stateflow machine, update the Simulink diagram to update ports and
signal widths, reattach the VR sink. This m-file calls MAKE_UAVVR and MAKE_UAVMODES
AIAA-2002-4495.pdf -
PDF file of the AIAA paper that was presented on this demo.
FRONTEND.FIG -
FIG file associated with FRONTEND.M GUI
FRONTEND.M -
Frontend GUI which is used as a front end to control the simulation.
This GUI allows the following to be changed
number of vehicles,
number size and location of obstacles,
number size and location of targets,
vehicle ICs
INITTHIS.M -
This m-file is called in various blocks of the simulation. Use Simulink Finder to find them.
It will correctly populate constants and ICs with the correct width for a given
simulation run. See file for list of what it initializes.
MAKE_UAVMODES.M -
This file uses the Stateflow API to rebuild the stateflow chart based on number of vehicles.
MAKE_UAVVR.M -
This file rebuilds the VR world file (temp.wrl) using the VR API based on number of
vehicles, obstacles, and targets.
MYFISH.WRL -
This is the VR representation of the vehicle.
SF_UAVMODE_TEMPLATE.MDL -
This is a simulink model that houses a Stateflow machine that is used as a template for
each vehicle when the full state machine is constructed. This was done using the Stateflow
clipboard such that it would be easy to modify each vehicle since it can be done graphically.
STATEIC.FIG -
FIG file associated with STATEIC.M GUI.
STATEIC.M -
State IC GUI used to set initial conditions for each vehicle.
TEMP.WRL -
Temporary WRL file used by the simulation. This WRL file gets rewritten to take into
account changing vehicles, obstacles, and targets.
VEHICLEDATA.M -
File that loads in vehicle specific data. Also has collaborative control specific data.
VEHICLES.MDL -
Main Simulink model of multiple uav collabrative control simulation.
VR_UAV.WRL -
Base WRL file that is used to build TEMP.WRL from. This is the least common denominator for
all TEMP.WRL files.
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