基于MAS的无人机纵向飞行控制  

Longitudinal Flight Control of UAVs Based on Multi-Agent System

作　　者：常勇[1] 吴庆宪[1] 张立珍[1] 姜长生[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《电光与控制》2011年第3期21-24,30,共5页Electronics Optics & Control

基　　金：航空科学基金与光电控制技术重点实验室基金联合资助

摘　　要：提出一种基于分层递阶多Agent的无人机自主飞行控制系统,并分别利用动态逆和改进型动态逆方法设计了纵向姿态控制Agent。首先建立了带推力矢量的无人机六自由度模型,并在此基础上推导出纵向控制方程;进而结合奇异摄动理论,将无人机纵向飞行控制系统分成快慢两个回路,并为其分别设计了动态逆控制器和改进型动态逆控制器;最后用设计的控制器对所建无人机模型进行了仿真对比分析。结果表明,基于改进型动态逆设计的控制器是有效的,且比改进前的动态逆控制器具有更好的控制跟踪性能。An autonomous flight control system was proposed for UAVs based on hierarchical Multi-Agent System（MAS） control architecture,and the longitudinal control Agent was designed by use of dynamic inversion controller and improved dynamic inversion controller respectively.Firstly,the six-dimensional model of UAV including thrust vector was built up,on the basis of which the longitudinal control equation was derived.Then based on the singular perturbation theory,the UAV longitudinal flight control system was divided into two loops： fast loop and slow loop,and dynamic inversion controllers and improved dynamic inversion controllers were designed for both of them.Finally,simulation was made for the UAV autonomous flight control system with the designed controllers.Simulation results showed that the improved dynamic inversion controller is effective,which can supply better control performance than the ordinary dynamic inversion controller.

关 键 词：UAV 多AGENT系统 动态逆 纵向姿态控制Agent 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]