分布式多无人机的时变编队非线性控制设计
作者:
作者单位:

天津大学电气自动化与信息工程学院

作者简介:

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中图分类号:

TP273

基金项目:

国家重点研发计划项目(2018YFB1403900),国家自然科学基金(91748121, 90916004)


Time-varying formation nonlinear control of distributed multiple UAVs
Author:
Affiliation:

School of Eltrical and Information Engineering, Tianjin University

Fund Project:

National Key R&D Program of China(2018YFB1403900),National Natural Science Foundation of China (Grants Nos. 91748121, 90916004)

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    摘要:

    本文研究了基于分布式通信网络的多无人机时变编队控制问题, 考虑到外界扰动对多无人机协同编队系 统的影响, 提出了一种新的连续非线性鲁棒编队控制方法. 首先基于一致性方法构造了分布式无人机编队误差系 统, 降低了编队控制器对全局编队信息的要求. 然后采用一种基于误差符号函数积分的鲁棒控制算法补偿未知外 界扰动的影响, 提高无人机编队系统的鲁棒性, 并基于 Lyapunov 分析的方法, 证明了多无人机编队误差的半全局 渐进收敛性. 最后在四旋翼无人机编队实验平台上, 进行了多无人机时变编队的实时实验验证. 实验结果表明, 本 文提出的分布式编队控制算法可以实现多无人机时变编队控制, 且具有较好的协同性能和抗干扰能力.

    Abstract:

    In this paper,the time-varying formation control of multiple UAVs based on distributed communication network is investigated.Considering the effects of unknown disturbances on the cooperative formation system of multiple UAVs,a new continuous nonlinear robust control scheme is proposed.Firstly,a distributed formation error system is constructed based on the consistency method,which reduces the dependence of global formation information for the formation controller.Secondly,a robust control algorithm based on the integration of error sign function (RISE) is employed to compensate the effects of unknown external disturbances and improve the robustness of the closed-loop system.Thirdly,the semi-global asymptotic convergence of the formation error is proved via Lyapunov based stability analysis.Finally,real-time flight experiments are performed on the multiple quadrotor UAVs testbed to validate the proposed formation control scheme.The experimental results show that the distributed formation control algorithm developed in this paper can achieve good time-varying formation control performance under the effects of external disturbances.

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历史
  • 收稿日期:2020-02-12
  • 最后修改日期:2021-04-07
  • 录用日期:2020-05-29
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