摘要
针对二阶一致性理论的无人机编队控制问题,以固定翼无人机为研究对象,提出了一种改进二阶一致性算法的无人机编队控制策略。通过引入虚拟领航者构建能够直观描述编队队形的相对运动坐标系,从水平与纵向相解耦的无人机运动学模型出发,同时考虑无人机系统的性能约束条件,对一致性算法进行了改进。针对无人机在不同飞行场景下的队形变换,基于KM算法设计了编队变换时编队成员位置的再分配策略,并采用改进L_(1)制导律作为虚拟领航者的航迹跟踪方法。最后通过仿真验证了本文所设计控制方法的可行性和有效性,仿真结果表明该方法可以在满足无人机系统性能约束的前提下形成稳定编队,同时在多种飞行场景中快速进行队形变换及拓扑切换并消除位置误差。
To solve the problem of the formation control of multi-UAV based on the second-order consensus theory.Taking fixed-wing UAVs as the research object and presenting a formation control method of UAVs based on an improved second-order consistency algorithm.To improve the consistency algorithm,by introducing a virtual leader that constructs a relative motion coordinate system capable of describing the formation directly.Simultaneously considering the characteristics of the UAV's kinematic model with decoupled transverse and longitudinal directions,as well as the performance constraints of the UAV system.To accommodate the UAV formation transformation under varying scenarios by employing the KM algorithm to design a redistribution strategy for the positions of formation members during formation transformation.Additionally,using the improved L_(1)guidance law as the virtual leader’s trajectory tracking method.Finally,using simulation to verify the feasibility and effectiveness of the formation control method proposed in this paper.The results indicate that the method can form a stable formation while satisfying the performance constraints of the UAV system,and the method can quickly perform formation transformation with switching topologies and eliminate position errors across a variety of flight scenarios.
作者
胡锦帆
Hu Jinfan(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《电子测量技术》
北大核心
2023年第22期70-77,共8页
Electronic Measurement Technology
基金
上海航天科技创新基金(SAST2021-053)项目资助
作者简介
胡锦帆,硕士研究生,主要研究方向为无人机编队控制与嵌入式软件开发。E-mail:hujinfan@nuaa.edu.cn
