多四旋翼无人机系统分布式分层编队合围控制  

Distributed hierarchical formation-containment control of multiple quadrotor UAV systems

作　　者：郑伟铭 徐扬 罗德林 ZHENG Weiming;XU Yang;LUO Delin(School of Aerospace Engineering,Xiamen University,Xiamen 361102,China;School of Civil Aviation,Northwestern Polytechnical University,Xi'an 710072,China;Yangtze River Delta Research Institute of NPU,Taicang,Suzhou 215400,China)

机构地区：[1]厦门大学航空航天学院,厦门361102 [2]西北工业大学民航学院,西安710072 [3]西北工业大学太仓长三角研究院,苏州215400

出　　处：《北京航空航天大学学报》2022年第6期1091-1105,共15页Journal of Beijing University of Aeronautics and Astronautics

基　　金：航空电子系统综合技术重点实验室和航空科学基金联合资助项目(20185568005)。

摘　　要：针对带有多个领航者与跟随者的欠驱动四旋翼无人机群系统,提出了一种分布式分层编队合围控制方法。设计分层分布式有限时间滑模估计器,实现在仅有部分领航者获取到期望轨迹的条件下,每架无人机都能生成其满足控制需求的估计位置信息。针对六自由度欠驱动四旋翼无人机模型的特点,提出一种无人机位置层和姿态层的分层控制方法,实现了无人机对所生成的估计位置的跟踪控制,该方法采用高阶导数逼近算法,防止在求解期望角速度的过程中出现微分爆炸。所提方法能在满足姿态稳定收敛的条件下实现有效的编队合围控制。通过数值仿真验证了所提方法的有效性。For the under-actuated quadrotor UAV swarm systems with multiple leaders and followers,a distributed hierarchical formation-containment control method is proposed.First,a hierarchical distributed finite-time sliding mode estimator is designed to achieve that each UAV can generate estimated position information that meets the control needs under the condition that only some leaders can obtain the desired trajectory.Then,considering the research object is an under-actuated six-degree-of-freedom quadrotor UAV model,a hierarchical control method of the UAV position layer and the attitude layer is proposed,which realizes the tracking control of the generated estimated position.This method adopts a high-order derivative approximation algorithm to prevent differential explosions in the process of solving the desired angular velocity.The given method can realize the effective formation-containment under the condition of satisfying the stable convergence of attitude.Finally,the accuracy and effectiveness of the proposed method are verified through numerical simulation.

关 键 词：编队合围控制 编队控制 四旋翼无人机 欠驱动系统 分布式控制 

分 类 号：V221.3[航空宇航科学与技术—飞行器设计] TB553[理学—物理]