基于SO(3)的多四旋翼无人机编队协同控制  

Coordinated control of multiple quadrotors formation on SO(3)

作　　者：马鸣宇 董朝阳[1] 马思迁 王青[2] MA Ming-yu;DONG Chao-yang;MA Si-qian;WANG Qing(School of Aeronautic Science and Engineering,Beihang University,Beijing 100191,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学航空科学与工程学院,北京100191 [2]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《控制理论与应用》2018年第9期1229-1238,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(61374012)资助~~

摘　　要：针对多四旋翼无人机系统的编队飞行问题,提出了基于特殊正交群SO(3)的协同控制设计方法.在给出编队空间队形和通信拓扑描述后,建立了多四旋翼无人机系统SO(3)控制模型.由于SO(3)与传统俯仰/偏航/滚转三通道模型具有不同的结构,文中进一步研究了SO(3)中无人机之间相对误差的表示方法,设计了适用于多飞行器的SO(3)控制器实现对编队和姿态的协同控制.推力控制器用于调节无人机的位置与速度,并在此基础上构造旋转矩阵形式的姿态协同指令.文中相应设计了SO(3)姿态控制器用于实现指令跟踪,最后从理论上对协同稳定性进行了分析.提出的控制方法能够使得多四旋翼无人机形成期望的队形,并且保持姿态一致进行稳定飞行.仿真结果验证了本文方法的有效性.This paper is concerned with the formation control for multiple quadrotors,and a coordinated control strategy on SO(3)is proposed.Based on the descriptions of flight formation and communication topology,the control model of multiple quadrotors system on SO(3)is first presented.Because of the difference from the conventional model described by pitch/yaw/roll angles,this paper further studies the structure of relative error between quadrotors to formulate the thrust and attitude controllers on SO(3).The thrust controller is designed to coordinate position and velocity,and it is also employed to construct the coordinated attitude commands in the form of rotation matrix.Then,the SO(3)attitude controller is designed for command tracking,and the stability of the closed-loop system is analyzed by Lyapunov theory.It is proved that by applying the proposed control strategy,the multiple quadrotors could achieve the desired formation with stable attitude consensus.Simulation results show the effectiveness of our method.

关 键 词：多四旋翼无人机系统 飞行编队 协同控制 SO(3) 

分 类 号：V249[航空宇航科学与技术—飞行器设计]