基于相对方向的非线性无人机群反步编队跟踪控制  

Backstepping formation tracking control of nonlinear UAVs with relative bearing-only information

作　　者：彭战松[1] 李铁柱[2] PENG Zhansong;LI Tiezhu(Yellow River Conservancy Technical Institute,Kaifeng 475004,China;School of Computer and Information Engineering,Henan University,Kaifeng 475004,China)

机构地区：[1]黄河水利职业技术学院,河南开封475004 [2]河南大学计算机与信息工程学院,河南开封475004

出　　处：《飞行力学》2023年第1期34-39,共6页Flight Dynamics

基　　金：国家自然科学基金资助(61976060)。

摘　　要：针对具有未知动态模型的非线性无人机群的编队问题,设计了基于神经网络的反步控制策略。首先,通过径向基(RBF)神经网络来逼近无人机的未知非线性动态,增加系统的鲁棒性和抗扰能力;然后,引入方向刚性图理论,结合反步控制策略,设计了仅基于方向信息的无人机群编队分布式控制器,并通过Lyapunov方法证明了控制系统的稳定性;最后,通过Simulink仿真验证了控制器的有效性。Aiming at the formation problem of nonlinear UAVs(Unmanned Aerial Vehicles) with unknown dynamic model, a backstepping control strategy based on neural network is designed. Firstly, a RBF neural network is used to approximate the unknown nonlinear dynamics of the agent to increase the robustness and anti-interference ability of the system. Then, the directional rigid graph theory and backstepping control strategy are introduced to design a UAVs’ formation distributed controller based on bearing information only, and the stability of the control system is proved by Lyapunov method. Finally, the effectiveness of the controller is verified by the Simulink simulation.

关 键 词：非线性无人机群 相对位置 反步控制 神经网络 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP13[自动化与计算机技术—控制理论与控制工程]