基于距离的无人机编队路径跟踪控制  

Distance-based control for UAVs formation path tracking

作　　者：刘树光[1] 王欢[1] 刘荣华 LIU Shuguang;WANG Huan;LIU Ronghua(Air Force Engineering University,Xi'an 710051,China;32399 Troops of the PLA,Nanjing 211100,China)

机构地区：[1]空军工程大学,陕西西安710051 [2]中国人民解放军32399部队,江苏南京211100

出　　处：《飞行力学》2023年第1期27-33,共7页Flight Dynamics

基　　金：装备预研国防科技重点实验室基金资助(6142219200301);国家自然科学基金资助(61973253)。

摘　　要：针对复杂通信环境下无人机编队跟踪控制问题,提出了基于距离的无人机编队路径跟踪容错控制方法。基于刚性图编队控制框架,引入距离误差,实现编队控制,并针对无人机编队生成的收敛速度问题,引入预设性能技术,以指定跟踪性能生成无人机编队。针对无人机执行器可能出现的故障,利用自适应滑模容错控制技术,实现具有容错性能的编队控制。考虑无人机在飞行环境中遇到的不确定扰动和模型自身存在的未建模动态,引入神经网络控制器,提高控制算法的抗干扰能力。最后,基于Lyapunov理论证明了所设计编队控制系统的稳定性,仿真验证了控制方法的有效性。Considering the formation tracking control of unmanned aerial vehicles(UAVs)in the complex communication environment,the distance-based fault-tolerant path tracking control method for UAVs is proposed.In this paper,based on the framework of rigid graph,the distance error is introduced to realize the formation control,and the prescribed performance is introduced to solve the problem of convergence speed of UAVs formation generation,so as to specify the performance of UAVs formation generation.Based on the adaptive sliding mode fault-tolerant control technology,the formation control with fault-tolerant performance is realized.Considering the uncertain disturbances encountered by UAV in flight environment and the unmodeled dynamics of UAV,a neural network controller is introduced to improve the anti-jamming ability of the control algorithm.Finally,the Lyapunov stability theory is used to prove the stability of the system,and the effectiveness of the controller is verified by simulation.

关 键 词：无人机编队 路径跟踪控制 基于距离 预设性能 容错控制 

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