Formation control model of airport pavement deicing vehicles

In order to solve the problem that the scheme of the actual deicing operation of the airport pavement cannot be fully adapted to the environment, the operation mode and the airworthiness condition of the aircraft during deicing process were considered, and a two-stage deicing operation model with time constraints was constructed. Based on the operation ability of the airport deicing vehicle, the collaborative operation problem of multiple vehicles in the mechanical deicing operation method was studied, and the formation control model based on the complex Laplacian matrix was designed. In order to reduce communication consumption and ensure communication stability, the Henneberg sequence operation method was used to generate the optimal communication diagram of the airport pavement deicing operation vehicles, and the generated optimal communication diagram satisfied the double root condition required by the formation control model. Analysis result shows that the two-stage deicing operation model can select different heterogeneous vehicles for formation work to achieve the optimal time and effect. The formation of control model based on the combination of the complex Laplacian matrix and the leader method is more stable than the traditional control model. The optimal communication diagram generated by the edge directed ensures the availability of communication between the leader and follower in the formation. Under the first-order kinematics model, the speed convergence can be achieved and the desired formation can be generated within 1 min based on the 5-agent "人" type formation. There is no winding or small angle turning in the motion trajectory, which conforms to the actual operation rules of vehicles and can maintain the desired formation in subsequent operations. Therefore, the formation control model can realize the formation control of large-scale heterogeneous deicing operation vehicles and meet the expected requirements.