面向突防路径跟踪的预设时间安全控制

Predefined-time safety path-following for unmanned aerial vehicle

中文关键词  路径跟踪  避障  分数阶系统  控制障碍函数  安全控制

英文关键词  path-following  obstacle avoidance  fractional order system  control barrier functions  safety control

中文摘要

      为增强无人机突防时的隐蔽性, 无人机的突防路线通常贴近周围建筑或山体. 因此, 无人机在跟踪突防路 径时既要保证精度又要保证安全. 针对无人机突防路径的快速跟踪与主动避障问题, 本文提出了一种基于分数阶 增益与控制障碍函数的安全控制策略. 首先, 利用C2函数定义突防航线和障碍物边界, 建立了无人机突防路径跟踪 的安全控制模型; 然后, 基于分数阶系统的“记忆”特性设计了路径跟踪控制律, 实现了预设时间内对突防路径的跟 踪; 接着, 采用控制障碍函数和广义K类函数, 利用二次规划问题的最优解设计了安全控制律, 实现了障碍物和航线 靠近、甚至冲突情况下的自主避障; 最后, 通过数值仿真试验验证了所提方法的有效性.

英文摘要

      In order to enhance the stealthiness of unmanned aerial vehicles (UAVs) in defence, the routes of UAVs are usually close to the surrounding buildings or mountains. Therefore, the UAV should avoid a collision while following the path to ensure flight safety. To solve the problem of fast path-following and obstacle avoidance for the UAV, a predefined-time safety controller is designed in this paper with the help of the fractional order system and control barrier functions. Firstly, the C 2 functions are adopted to model the desired path and the boundary of the obstacle, followed by the elaboration of the control problem. Secondly, a fractional adaptive gain is used to design the predefined-time controller for path-following. Then, the control barrier functions and the extended class K functions are used to design the safety controller for obstacle avoidance. Finally, a numerical simulation is designed to verify the superiority of the proposed method.