有界输入约束下的多四旋翼飞行器群控制  

Flocking Control of Multiple Quadrotor Aerial Vehicles with Bounded Input Constraints

作　　者：李晓梅[1] 陈学军[1] LI Xiaomei;CHEN Xuejun(Key Laboratory of Fujian Universities for New Energy Equipment Testing,Putian University,Putian 351100,China)

机构地区：[1]莆田学院新能源装备检测福建省高校重点实验室,福建莆田351100

出　　处：《电光与控制》2020年第12期105-110,共6页Electronics Optics & Control

基　　金：福建省自然基金面上项目(2018J01511);福建省教育厅项目(JT180471);福建省自然科学基金(2020J01917)。

摘　　要：针对多四旋翼飞行器在群间实时信息交互距离有限和输入控制器受有界约束情况下的群集控制问题,在位置子系统中提出了有界控制函数结合改进的饱和函数来设计有界总推力控制器,自主调节飞行器群的位置和速度,实现速度一致性以及理想的避撞性、汇聚性运动状态,在旋转子系统中通过有界转化项并结合改进的嵌套饱和函数来设计有界广义力矩控制器,对飞行器姿态进行自主调整,实现偏航角一致性运动目标。最后,仿真结果进一步表明所设计控制器的有效性。The flocking control problem of a group of quadrotor aerial vehicles is studied under limited distance for real-time information exchanges and bounded constraints on the input controller.The method of combining the bounded function with the modified saturation function is presented to design the bounded total-thrust controller in the position subsystemwhich will adjust the positions and velocities of the group of quadrotor aerial vehicles autonomouslyso as to realize ideal collision avoidance and cohesion maintenanceas well as velocity consensus.The generalized bounded torque controller is designed by combining the bounded transformation term with the modified nested saturation function to adjust the attitude of the aerial vehicles autonomouslyso as to achieve the yaw angle consensus in the rotational subsystem.Finallysimulation results have proved the validness of the designed input controller.

关 键 词：群集控制 四旋翼飞行器 有界控制器 偏航角一致性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]