基于输出反馈的四旋翼飞行器分布式编队控制  

Distributed Formation Control of Quad-rotor Based on Output Feedback

作　　者：丁磊 孙智孝[2] 苗亚囡 秦正雁 刘腾飞 DING Lei;Sun Zhi-xiao;MIAO Ya-nan;QIN Zheng-yan;LIU Teng-fei(State Key Laboratory for Integrated Automation of Process Industry,Northeastern University,Shenyang 110819,China;AVIC Shenyang Aircraft Design&Research Institute,Shenyang 110035,China)

机构地区：[1]东北大学流程工业综合自动化国家重点实验室,辽宁沈阳110819 [2]中航工业沈阳飞机设计研究所,辽宁沈阳110035

出　　处：《控制工程》2020年第5期855-861,共7页Control Engineering of China

基　　金：国家自然基金项目(NSFC-6163007,61733018,61522305,61533007)。

摘　　要：研究了具有有向通讯拓扑的多四旋翼飞行器的分布式编队控制问题。首先建立四旋翼动力学模型,并利用非线性变换将建立的动力学模型转化为双积分器模型。然后将四旋翼飞行器编队看作是由多个子系统构成的关联系统,并通过关联系统的镇定实现编队控制。针对四旋翼飞行速度难以准确实时测量的问题,设计了降维状态观测器实现速度估计,并在此基础上设计了分布式编队控制器。当通讯拓扑满足基本的生成树条件时,通过保证每个子系统的稳定性进而保证整个关联系统的稳定性,从而实现编队控制目标。最后,利用物理实验平台验证了控制算法的有效性。This paper studies the distributed formation control problem of quadrotors with directed communication topology.A dynamical model of quadrotors is developed and then transformed into a double integrator through nonlinear transformation.Then,the formation of quadrotors is considered as an interconnection of several subsystems,each of which corresponds to one quadrotor,and the formation control objective is achieved by stabilizing the interconnected system.For practical implementation,in our problem setting,the velocities of the quadrotors are not measurable,and reduced-order observers are designed for speed estimation.Observer-based distributed controllers are designed for formation control.It is proved that,if a standard spanning tree condition is satisfied,then the stability of the interconnected system is guaranteed and the formation control objective is achieved.Physical experiments are employed to verify the effectiveness of the theoretical design.

关 键 词：四旋翼飞行器 一致性 二阶积分器 输出反馈 状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]