论文标题
基于节能的基于事件的MIMO通信方案，用于无人机形成控制
An Energy-Efficient Event-Based MIMO Communication Scheme for UAV Formation Control
论文作者
论文摘要
我们将领导者 - 追随者的编队控制设置作为多代理网络控制系统（NCS）的示例。本文提出了一种基于事件的无线通信方案，该方案具有MIMO预编码器，该方案动态适应了通道和当前的控制状态。我们采用Lyapunov漂移方法来优化预编码器并定义事件触发策略。为了评估所提出的方案的性能，我们模拟了通过点对点MIMO褪色通道连接的两种无人机（UAV）的形成控制。与具有定期传输和基本填充算法的基准方案相比，我们证明我们提出的基于事件的方案更有效地消耗了更少的能源，并且平均需要更少的频率传输。
We consider a leader-follower formation control setup as an example for a multi-agent networked control system (NCS). This paper proposes an event-based wireless communication scheme with a MIMO precoder, that dynamically adapts to both the channel and the current control state. We apply a Lyapunov drift approach for optimizing the precoder and for defining an event-triggering policy. To evaluate the performance of the proposed scheme, we simulate a formation control of two unmanned aerial vehicles (UAVs) connected via a point-to-point MIMO fading channel. Compared to a benchmark scheme with periodic transmissions and a basic water-filling algorithm, we demonstrate that our proposed event-based scheme is more efficient by consuming less energy and requiring less frequent transmissions on average.
