基于动态角色分配的一致性协同无人机编队控制  

Consistent Cooperative of UAV Formation Control Based on Dynamic Role Assignment

作　　者：姜鸿儒 范云锋 徐亚周 董诗音 赵佳欢 JIANG Hongru;FAN Yunfeng;XU Yazhou;DONG Shiyin;ZHAO Jiahuan(Shanghai Electro-Mechanical Engineering Institute,Shanghai 201108,China)

机构地区：[1]上海机电工程研究所,上海201108

出　　处：《计算机测量与控制》2023年第5期126-131,138,共7页Computer Measurement &Control

摘　　要：随着微电子技术、数字通信技术的飞速发展,无人机编队已应用到许多领域;针对无人机编队保持和编队中能耗问题,提出了一种基于动态角色分配的一致性协同无人机编队控制方法;根据无人机运动学模型设计了一种反馈线性化姿态控制器;在此基础上,基于长机僚机模式设计了一种一致性编队控制算法,提升了编队系统的鲁棒性;同时,设计了一种基于匈牙利算法动态角色分配方法,使多无人机在执行任务过程中可依据具体的周围环境情况来重新制定编队方案确定各无人机位置以此来缩小执行任务周期,同时减小整体能量消耗,并以5架无人机构成编队为例开展了编队飞行仿真分析;仿真结果表明,基于动态角色分配的一致性协同无人机编队控制算法保证了编队控制系统的控制精度和鲁棒性,有效地减小了整体的能量消耗。With the rapid development of microelectronic technology and digital communication technology,unmanned aerial vehicle(UAV)formation has been applied to many fields.Aiming at the problems of maintenance and energy consumption for UAV formation,a consistent cooperative UAV formation control scheme based on dynamic role assignment is proposed.A feedback linearized attitude controller is designed by the kinematic model of UAV.On this basis,a consistent formation control algorithm is designed based on the leader-follower pattern,which improves the robustness of the formation system.At the same time,a dynamic role assignment control method based on Hungarian algorithm is designed to enable multiple UAVs to reformulate formation plans and determine the positions of the UAVs during the execution of tasks according to the specific surrounding environment,so as to reduce the execution cycle of tasks and the overall energy consumption.The formation flight simulation analysis is carried out to take the formation of five UAVs as an example.The simulation results show that the consistent cooperative of UAV formation control algorithm based on the dynamic role assignment ensures the control accuracy and robustness of the formation control system,which effectively reduces the overall energy consumption.

关 键 词：无人机 角色分配 编队控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TM73[自动化与计算机技术—控制科学与工程]