论文:2013,Vol:31,Issue(5):722-726
引用本文:
邢小军, 席奥, 闫建国. 多无人机协同编队最优鲁棒控制方法研究[J]. 西北工业大学
Xing Xiaojun, Xi Ao, Yan Jianguo. Study on Optimal Robust Control for Multiple UAVs' Collaborative Formation Flight[J]. Northwestern polytechnical university

多无人机协同编队最优鲁棒控制方法研究
邢小军, 席奥, 闫建国
西北工业大学 自动化学院, 陕西 西安 710072
摘要:
多无人机协同编队飞行比单机飞行面临更多的干扰和不确定因素,为提高编队飞行控制的鲁棒性和稳定性,使各无人机能够自主进行动态调整,保持队形结构的稳定,提出了一种基于H鲁棒理论和遗传算法的多机协同编队鲁棒控制方法。该方法应用多目标遗传算法自适应选取最优鲁棒加权函数阵,再通过求解混合灵敏度问题得到当前飞行包线下的最优协同编队H鲁棒控制律。仿真结果表明,文中所设计的编队控制器具有良好的鲁棒性和稳定性。
关键词:    鲁棒控制    多无人机    遗传算法    H控制   
Study on Optimal Robust Control for Multiple UAVs' Collaborative Formation Flight
Xing Xiaojun, Xi Ao, Yan Jianguo
Department of Automatic Control, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
Compared with single UAV' s flight,multiple UAVs' collaborative formation flight is confronted with more disturbances and more uncertain factors. In order to enhance the robustness and stability of collaborative formation control,and to give each UAV the access to autonomously and dynamically adjusting its own flight altitude and flight track to keep the stability of the structure of flight formation despite the existence of some uncertain factors,a novel approach of collaborative formation control was presented based on H-infinity robust control theory.The approach applied effective evolutionary algorithm to selecting the optimal H-infinity robust weight function matrices adaptively,then solved the H-infinity mixed sensitivity problem to acquire optimal collaborative H-infinity robust formation flight controller. The simulation results and their analysis showed preliminarily that the controller is relatively better in robustness and stability.
Key words:    computer simulation    controllers    evolutionary algorithms    genetic algorithms    mathematical models    matrix algebra    optimization    robust control    uncertainty analysis    unmanned aerial vehicles (UAV)    H-infinity robust control    multiple UAVs   
收稿日期: 2012-12-05     修回日期:
DOI:
基金项目: 国家留学基金([2012]3022);陕西省自然科学基础研究计划(2011GQ8005);西北工业大学基础研究基金(JC20100216)资助
通讯作者:     Email:
作者简介: 邢小军(1976-),西北工业大学副教授,主要从事飞行控制、先进计算智能理论及应用研究。
相关功能
PDF(699KB) Free
打印本文
把本文推荐给朋友
作者相关文章
邢小军  在本刊中的所有文章
席奥  在本刊中的所有文章
闫建国  在本刊中的所有文章

参考文献:
[1] 李文皓, 张 珩.用于多无人机编队飞行的 PIDA 逆飞行控制器.系统仿真学报, 2009, 21 (19): 6221-6224 Li Wenhao, Zhang Heng.PIDA Inversion Flight Controller for Multiple Unmanned Aerial Vehicle Formation.Journal of System Simulation, 2009, 21 (19): 6221-6224 (in Chinese)
[2] Hu Yunan, Zuo Bin.The Application of an Annealing Recurrent Neural Network for Extreme Seeking Algorithm to Optimize UAV Tight Formation Flight.IMACS Beijing, 2006, 2180-2184
[3] Li Saiming, Jovan D Boskovic, Raman K Mehra.Globally Stable Automatic Formation Flight Control in Two Dimensions.AIAA Guidance, Navigation, and Control Conference and Exhibit, 2008, Montreal, Canada
[4] 万 婧, 艾剑良.无人机编队飞行模糊控制系统设计与仿真.系统仿真学报, 2009, 21 (13): 4183-4186 Wan Jing, Ai Jianliang.Design and Simulation of Fuzzy Control System for UAV Formation Flight.Journal of System Simulation, 2009, 21 (13): 4183-4186 (in Chinese)
[5] ReynaV R, PachterM, D Azzo J.Formation Flight Control Automation.AIAA-1994-3557