面向空地协同作战的无人机-无人车异构时变编队跟踪控制  

Air-Ground Time Varying Formation Tracking Control for Heterogeneous UAV-UGV Swarm System

作　　者：周思全 化永朝 董希旺[1,2] 李清东[1] 任章[1,2] Zhou Siquan;Hua Yongzhao;Dong Xiwang;Li Qingdong;Ren Zhang(School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing 100191, China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]北京航空航天大学大数据科学与脑机智能高精尖创新中心,北京100191

出　　处：《航空兵器》2019年第4期54-59,共6页Aero Weaponry

基　　金：国家自然科学基金项目(61922008;61973013;61873011;61803014);北京市自然科学基金项目(4182035);中国科协青年人才托举工程项目(2017QNRC001);航空科学基金项目(20170151001);中国民航专项研究项目;系统控制与信息处理教育部重点实验室;中央高校基本科研业务费支持项目

摘　　要：本文研究了无人机自主伴飞协同侦察技术中的异构集群系统空地协同时变编队跟踪控制问题,要求多无人机与无人车在形成期望时变编队构型的同时,实现对领导者参考轨迹的跟踪。首先,对无人机与无人车进行单体运动学与动力学建模,并引入代数图论概念,建立异构集群系统的协同控制模型。然后,引入虚拟领导者刻画编队整体的运动轨迹,并基于对虚拟领导者状态的分布式观测器,对各无人机-无人车构造分布式编队跟踪控制器。进一步分析异构集群系统实现时变编队跟踪的可行性条件,给出编队跟踪控制器中各参数的选取方法。最后,给出了一个仿真例子来验证所设计控制器的有效性。This paper studies the time varying formation tracking control problems for heterogeneous UAV-UGV swarm system. The UAVs and UGVs need to achieve the desired time-varying formation and track the reference trajectory of a leader synchronously. Firstly,the kinetic and dynamic mathematical model for each UAV-UGV is established,and the cooperative control model for heterogeneous swarm system by using algebraic graph theory is setup. Then,a virtual leader is used to describe the motion trajectory of the whole formation,and the distributed formation tracking controller is designed for each UAVUGV based on the distributed observer for virtual leader’s state. Furthermore,the feasibility conditions to achieve the time-varying formation tracking are analyzed,and an algorithm to design the control parameters is given. Finally,a simulation example is provided to demonstrate the effectiveness of the proposed control approach.

关 键 词：异构集群系统 分布式控制 时变编队 跟踪控制 武器协同技术 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程] V279[航空宇航科学与技术—飞行器设计]