论文:2016,Vol:34,Issue(4):607-613
引用本文:
过娟, 褚晶, 闫杰. 基于控制向量参数化和迭代凸规划的无人机编队飞行的建立[J]. 西北工业大学学报
Guo Juan, Chu Jing, Yan Jie. Establishment of UAV Formation Flight Using Control Vector Parameterization and Sequential Convex Programming[J]. Northwestern polytechnical university

基于控制向量参数化和迭代凸规划的无人机编队飞行的建立
过娟1, 褚晶2, 闫杰1
1. 西北工业大学 航天学院, 陕西 西安 710072;
2. 西北工业大学 航空学院, 陕西 西安 710072
摘要:
多个无人机组成的编队飞行可以作为很多应用中现有技术的一种高效、低成本的替代方案。研究了能满足最终编队队形约束的且能量最优的无人机编队飞行的建立。首先,将编队建立问题建模成一个受非线性动力学约束的能量最优控制问题。其次,采用直接法来求解该最优控制问题。在采用的直接法中,利用控制向量参数化方法将原始问题转化成一系列待求解的凸优化问题;然后,运用迭代凸规划(SCP)技术求得其最优解。在求解过程中,SCP迭代的每一步本质上都是一个二次型规划问题;由于该规划问题的约束是线性约束,因此可以高效地进行求解。最后,将提出的方法运用到3个无人机的V型编队建立中,并使用了免费的开源求解器CVX进行求解。与MATLAB中提供的全局优化技术相比,文中提出的算法能够快速地收敛到全局最小值。
关键词:    无人机编队飞行    最优控制    控制向量参数化    迭代凸规划   
Establishment of UAV Formation Flight Using Control Vector Parameterization and Sequential Convex Programming
Guo Juan1, Chu Jing2, Yan Jie1
1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
Formation flight of multiple Unmanned Aerial Vehicles (UAVs) could provide an effective, efficient yet cost reduction alternative to existing technologies of various applications. This paper addresses the energy-optimal establishment of UAV formation flight that shall satisfy final configuration constraints. First, the problem of formation establishment is formulated as an energy-optimal control problem which is subject to the nonlinear dynamics constraints. Then, the optimal control problem is solved using a direct method. In this direct method the original problem is transcribed into a sequence of convex optimization problems via the control vector parameterization approach. After that, the sequential convex programming (SCP) technology is employed to derive the optimal solution. Essentially, each instance of SCP is a quadratic programming problem subject to linear constraints that can be solved very efficiently. In the end, the proposed method is applied to the establishment of V formation for three UAVs, where the free open source CVX is exploited. By comparison with the global optimization technique provided in MATLAB, the solution converges very fast to the global minimum.
Key words:    convex optimization    cost reduction    MATLAB    parameterization    unmanned aerial vehicles(UAVs)    formation flight    optimal control    control vector parameterization    sequential convex programming   
收稿日期: 2016-03-25     修回日期:
DOI:
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作者简介: 过娟(1986-),女,西北工业大学博士研究生,主要从事分布式优化及制导技术的研究。
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