异构无人机群鲁棒一致性协议设计  

Robust consensus controller design for heterogeneous multi-UAV systems

作　　者：孙长银[1,2] 余瑶[1] 张兰[1] 

机构地区：[1]北京科技大学自动化学院,北京100083 [2]东南大学自动化学院,南京210096

出　　处：《中国科学：技术科学》2015年第6期573-582,共10页Scientia Sinica(Technologica)

基　　金：国家杰出青年科学基金(批准号:61125306);高等学校博士学科点专项科研基金(批准号:20110092110020);国家自然科学基金(批准号:61473324)资助项目

摘　　要：研究了具有非线性不确定性的异构无人机群系统分布式一致性跟踪控制问题.文中假设领航者的输出是时变的,无人机自主体具有不同的非线性不确定空气动力特性,设计分布式鲁棒一致性协议,抑制非线性不确定性对闭环系统的影响,使得跟随者可以跟随领航者.所设计的鲁棒一致性协议包括标称控制器和鲁棒补偿器两部分,标称控制器的设计是为了使标称的无人机群具有一致性跟踪特性,鲁棒补偿器的设计是为了抑制不确定性对系统的影响,文中用李雅普诺夫函数分析并证明了一致性误差能以期望的速度收敛到原点任意小的邻域.最后,通过仿真验证了一致性协议的有效性.In this paper, distributed consensus tracking control for heterogeneous multi-uav systems with nonlinearities and uncertainty is considered. It is assumed that the leader＇s output is time-varying and unmanned aerial vehicles have different nonlinear uncertain dynamics. A distributed robust consensus protocol is designed to restrain the effect of nonlinear uncertainties on the multi-UAV systems and guarantee the consensus tracking between the followers and the leader. The designed robust consensus protocol includes a nominal virtual controller and a robust virtual compensator. The nominal virtual controller is first designed to get desired consensus tracking property for the nominal disturbance-free subsystem, and then the robust virtual compensator is designed to restrain the effect of the uncertainties. From the Lyapunov stability theorem, it is shown that the consensus tracking errors can be made as small as desired with expect converge rate. Finally, an example is presented to illustrate the theoretical results.

关 键 词：异构无人机群 非线性不确定性 鲁棒一致性协议 输出跟踪 反推设计方法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]