多无人机协同编队最优鲁棒控制方法研究  

Study on Optimal Robust Control for Multiple UAVs' Collaborative Formation Flight

作　　者：邢小军[1] 席奥[1] 闫建国[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《西北工业大学学报》2013年第5期722-726,共5页Journal of Northwestern Polytechnical University

基　　金：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

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。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 fac- tors, 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 ro- bust formation flight controller. The simulation results and their analysis showed preliminarily that the controller is relatively better in robustness and stability.

关 键 词：鲁棒控制 多无人机 遗传算法 H∞控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]