基于图论法的四旋翼三角形结构编队控制
On the study of a multi-quadrotor formation control with triangular structure based on Graph theory
摘要点击 91  全文点击 75  投稿时间:2018-01-21  修订日期:2018-11-12
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DOI编号  10.7641/CTA.2018.80065
  2018,35(10):1530-1537
中文关键词  人机, 编队, 图论法, 领航者-跟随者
英文关键词  unmanned aerial vehicle  formation  graph theory  leader-follower
基金项目  国家自然科学基金项目(61450010)资助.
学科分类代码  59035
作者单位E-mail
赖云晖 电子科技大学 laiyunhui69@gmail.com 
李瑞 电子科技大学 lirui@uestc.edu.cn 
史莹晶 电子科技大学  
贺亮 上海航天控制技术研究所  
中文摘要
      针对四旋翼人机编队控制, 提出了一种基于图论法的四旋翼三角形结构编队. 本文将四旋翼人机编队整体视为一幅有向图, 四旋翼为有向图中的点, 四旋翼间的距离及通讯状态为有向图的边; 结合Leader-Follower理论, 通过相应的距离反馈控制律对领航者和跟随者设计不同的控制策略; 进而使三架四旋翼人机彼此间相对的 距离收敛到一个稳定的值, 最终形成一个固定的三角形结构编队. 仿真研究和结果验证了本文提出编队控制策略的有效性和优越性.
英文摘要
      In this paper, a multi-quadrotor formation control scheme based on Graph theory is proposed for controlling three quadrotors forming a triangular structure. The whole quadrotor formation structure is viewed as a weighted graph,each quadrotor is mapped to the point of the graph, and the distance and communication between quadrotors are mapped to the line of the graph. By combining with Leader-Follower method, we design different formation control scheme for the leader quadrotor as well as the follower quadrotor through distance feedback control, resulting that three quadrotors can utilize the relative distance mutually and converge to a stable value. The quadrotor formation structure will forma fixed triangular structure in the end. Simulation studies demonstrate the effectiveness and superiority of the proposed multi-quadrotor formation control scheme.