| 引用本文: | 李正平,鲜斌.基于虚拟结构法的分布式多无人机鲁棒编队控制[J].控制理论与应用,2020,37(11):2423~2431.[点击复制] |
| LI Zheng-ping,XIAN Bin.Robust distributed formation control of multiple unmanned aerial vehicles based on virtual structure[J].Control Theory and Technology,2020,37(11):2423~2431.[点击复制] |
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| 基于虚拟结构法的分布式多无人机鲁棒编队控制 |
| Robust distributed formation control of multiple unmanned aerial vehicles based on virtual structure |
| 摘要点击 3175 全文点击 734 投稿时间：2020-02-14 修订日期：2020-06-04 |
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| DOI编号 10.7641/CTA.2020.00080 |
| 2020,37(11):2423-2431 |
| 中文关键词 多无人机编队 虚拟结构法 队形变换 鲁棒控制 分布式通信 实验验证 |
| 英文关键词 multi-UAV formation virtual structure formation switching robust control distributed communication experimental verification |
| 基金项目 国家自然科学基金（91748121, 90916004), 国家重点研发计划计划资助（2018YFB1403900） |
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| 中文摘要 |
| 针对多无人机编队控制(UAVs)问题, 本文提出了一种基于虚拟结构法的非线性鲁棒控制算法. 首先将编队
控制问题转化成两个子问题: 在惯性坐标系下虚拟刚体(VRB)光滑轨迹的生成设计, 以及在虚拟刚体坐标系下的无
人机编队队形控制设计. 针对部分无人机无法直接获取虚拟刚体状态的约束, 通过引入相邻无人机的跟踪状态, 实
现了分布式的编队控制. 同时, 考虑多无人机近距离编队飞行时相互间的气流扰动影响, 设计了基于supertwisting
的鲁棒控制算法, 提高了编队系统的控制精度和稳定性. 利用Lyapunov稳定性分析方法, 证明了位置跟踪误差在
有限时间内收敛到滑模面, 得到闭环系统全局渐近稳定的结果. 最后通过实际飞行实验, 验证了所提控制算法的有
效性和鲁棒性. |
| 英文摘要 |
| In this paper, a new nonlinear robust control scheme based on the virtual structure method is developed for
the formation control of multiple unmanned aerial vehicles (UAVs). The control problem is divided into two subproblems:
a smooth trajectory generation for the virtual rigid body (VRB) in the inertial frame, and the formation control design in
the VRB frame. The tracking states of the neighboring UAVs are employed for the UAVs which can not obtain the VRB
states directly. The super-twisting based nonlinear robust control is designed to compensate the airflow influences between
UAVs. Lyapunov based stability is utilized to prove the finite-time convergence of the formation error signals and the global
asymptotic stability of the closed-loop system. Real-time experimental results are included to validate the performance of
the proposed design. |