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论文:2015,Vol:33,Issue(1):26-32 |
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引用本文： |
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邵壮, 祝小平, 周洲, 王彦雄. 无人机编队机动飞行时的队形保持反馈控制[J]. 西北工业大学学报 |
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Shao Zhuang, Zhu Xiaoping, Zhou Zhou, Wang Yanxiong. A Formation Keeping Feedback Control for Formation Flight of UAVs[J]. Northwestern polytechnical university |
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| 无人机编队机动飞行时的队形保持反馈控制 |
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| 邵壮1, 祝小平2, 周洲1, 王彦雄1 |
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1. 西北工业大学无人机特种技术重点实验室, 陕西西安 710065;
2. 西北工业大学无人机研究所, 陕西西安 710065 |
| 摘要: |
| 为提高编队大机动时的队形保持能力,采用虚拟结构编队方法,基于李雅普诺夫直接法设计独立的非线性队形保持控制器,并在此基础上采用非线性模型预测控制方法设计含队形反馈的编队轨迹跟踪器。通过在代价函数中引入队形误差代价来实现队形反馈控制策略,并采用动态参数实现编队队形保持和沿参考轨迹飞行之间的自适应切换,各无人机通过滚动求解有限时域优化问题得到虚拟结构的控制指令。仿真结果表明,相较于无队形反馈的情况,所设计的含队形反馈轨迹跟踪器能够显著地降低编队大机动时的队形保持误差。 |
| 关键词:
无人机
编队飞行
队形反馈
虚拟结构
非线性模型预测控制
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| A Formation Keeping Feedback Control for Formation Flight of UAVs |
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| Shao Zhuang1, Zhu Xiaoping2, Zhou Zhou1, Wang Yanxiong1 |
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1. National Key Laboratory of Special and Technology on UAV, Northwestern Polytechnical University, Xi'an 710065, China;
2. UAV Research Institute, Northwestern Polytechnical University, Xi'an 710065, China |
| Abstract: |
| When executing a sharp maneuver, if the formation maneuver path is not well designed, a formation of UAVs constrained by their performance capabilities, may not be able to keep in satisfactory formation as desired. We, applying Lyapunov stability theory and using virtual structure approach, propose designing individually a nonlinear controller for satisfactory formation keeping. Then, by applying nonlinear model predictive control approach, a trajectory tracker with formation feedback is designed to improve the capacity of formation keeping during a sharp maneuver. Formation feedback is achieved by adding a formation-error cost to the total cost function, and a dynamic parameter is proposed to obtain a trade-off between formation keeping and flying along prescribed trajectory adaptively. Each UAV gets the reference commands of the virtual structure by solving a Finite Horizon Optimal Control Problem at each time step. Simulation results and their analysis suggest that, compared with situation without formation feedback, the designed trajectory tracker with formation feedback can reduce formation-keeping error evidently. |
| Key words:
angular velocity
controllers
cost functions
design
errors
feedback
Lyapunov functions
Lyapunov methods
MATLAB
model predictive control
trajectories
unmanned aerial vehicles(UAV)
formation feedback
formation flight
nonlinear model predictive control
virtual structure
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| 收稿日期: 2014-09-16
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 邵壮(1987-),西北工业大学博士研究生,主要从事飞行器动力学与控制研究。
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| 作者相关文章 |
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| 邵壮 在本刊中的所有文章 |
| 祝小平 在本刊中的所有文章 |
| 周洲 在本刊中的所有文章 |
| 王彦雄 在本刊中的所有文章 |
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参考文献: |
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