四旋翼无人机一致性编队飞行控制方法  

Consensus-Based Formation Control Approach for Quadrotor UAVs

作　　者：陈杰敏[1] 吴发林[1] 耿澄浩 徐珊 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处：《航空兵器》2017年第6期25-31,共7页Aero Weaponry

基　　金：国家自然科学基金项目(61233005);973计划项目(2014CB744200);北京航空航天大学研究生创新基金(YCSJ-01-2016-10)

摘　　要：四旋翼无人机在民用及军用领域都发挥着越来越重要的作用。为了完成某些特定任务,需要由多架四旋翼组成的编队保持适当队形飞行。与单架四旋翼执行任务相比,四旋翼编队具有能增加任务成功率、提高整体抗干扰性能、扩大监控范围等优点。本文基于主从式编队结构,结合信息拓扑理论,把四旋翼编队描述为二阶一致性系统,设计编队控制器来实现四旋翼编队的稳定飞行。主机和从机均采用PID控制,主机跟踪预设轨迹,从机跟踪编队控制器计算出的轨迹跟踪指令。最后通过仿真分析了控制算法对四旋翼编队队形生成及队形保持的控制效果。Quadrotors are playing an important role in numerous civilian and military applications.In many applications,a team of quadrotors needs to execute a mission while maintaining a specific shape.Compared with conventional system,formation flight can improve the probability of success,increase the anti-interference performance and expand the region of surveillance.In this paper,the quadrotor formation is described as a second-order consensus system based on leader-follower structure and information topology theory,in order to design a formation controller for steady formation flight.The leader and the follower quadrotors are controlled by PID laws.The leader follows the desired trajectory while the followers follow the instruction calculated by the formation controller.A simulation is carried out to analyze the control effect of formation gathering and keeping of quadrotors with control algorithm.

关 键 词：四旋翼无人机 编队飞行 信息拓扑理论 -致性理论 主从式编队 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]