分布式多无人机协同编队队形控制仿真  

Simulation of Distributed Cooperative Formation Control for Multi-UAVs

作　　者：成成 张跃[1] 储海荣[1] 赵伟伟 CHENG Cheng;ZHANG Yue;CHU Hai-rong;ZHA0 Wei-wei(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun Jinlin 130033,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学,北京100049

出　　处：《计算机仿真》2019年第5期31-37,共7页Computer Simulation

基　　金：吉林省无人机产业发展战略联盟技术与应用平台(17CX002)

摘　　要：研究多无人机编队的队形精确控制问题。为解决采用集中式的编队控制策略中,存在长机通信负载大的问题,提出了基于虚拟长机状态估计的分布式编队控制方法。首先,求出僚机航向坐标系下虚拟长机的相对位置,建立了多无人机编队模型。其次,采用图论描述编队通信拓扑结构,并通过邻接通信,估计出虚拟长机状态来引导编队飞行。最后,引入位置、速度和航向作为协同变量,设计了具有线性混合器的编队保持控制器,使各无人机快速跟踪期望队形指令和保持队形稳定。仿真表明,各无人机对虚拟长机状态的估计误差渐进收敛到零附近,证明了虚拟长机可以作为编队的导引,提出的编队控制策略可以实现编队队形的精确保持,并能快速准确地跟踪预定航线。In order to reduce the communication load in centralized formation of multiple unmanned aerial vehicles(multi-UAVs),a distributed formation control method based on virtual leader state estimation algorithm was proposed.Firstly,the relative position of the virtual leader in the course coordinate system of wingman was calculated and a multi-UAV formation model was established.Secondly,the communication topology was described based on graph theory,and the state of virtual leader was estimated by using the communication topology among the "adjacent" UAVs.Finally,a formation keeping controller with linear mixer was designed to make UAV track the formation command quickly and keep the formation stably.Simulation results show that each UAV can accurately estimate the state of virtual leader,which proves that the virtual leader estimation state can be used as the guidance of formation.The proposed formation control strategy can achieve the precise formation and track routes accurately.

关 键 词：多无人机 编队控制 虚拟长机状态估计 分布式 队形保持 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]