An Optimal Control Strategy for Multi-UAVs Target Tracking and Cooperative Competition  

作　　者：Yiguo Yang Liefa Liao Hong Yang Shuai Li 

机构地区：[1]Jiangxi University of Science and Technology,Ganzhou 341000,China [2]College of Engineering,Swansea University,Swansea SA18EN,UK

出　　处：《IEEE/CAA Journal of Automatica Sinica》2021年第12期1931-1947,共17页自动化学报（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China(71462018,71761018);the Science and Technology Program of Education Department of Jiangxi Province in China(GJJ171503).

摘　　要：An optimal control strategy of winner-take-all(WTA)model is proposed for target tracking and cooperative competition of multi-UAVs(unmanned aerial vehicles).In this model,firstly,based on the artificial potential field method,the artificial potential field function is improved and the fuzzy control decision is designed to realize the trajectory tracking of dynamic targets.Secondly,according to the finite-time convergence high-order differentiator,a double closed-loop UAV speed tracking the controller is designed to realize the speed control and tracking of the target tracking trajectory.Numerical simulation results show that the designed speed tracking controller has the advantages of fast tracking,high precision,strong stability and avoiding chattering.Finally,a cooperative competition scheme of multiple UAVs based on WTA is designed to find the minimum control energy from multiple UAVs and realize the optimal control strategy.Theoretical analysis and numerical simulation results show that the model has the fast convergence,high control accuracy,strong stability and good robustness.

关 键 词：Artificial potential field(APF) fuzzy control higher-order differentiator optimal control strategy winner-take-all(WTA) 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程] V249.1[航空宇航科学与技术—飞行器设计]