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

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

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.