性能约束下的四旋翼无人机协同吊挂系统分布式避碰跟踪控制  

Distributed Collision Avoidance Tracking Control for Quadrotor Cooperative Suspension System Under Performance Constraints

作　　者：陈谋[1] 刘伟 张鹏[1] CHEN Mou;LIU Wei;ZHANG Peng(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016)

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《自动化学报》2024年第12期2392-2406,共15页Acta Automatica Sinica

基　　金：国家自然科学基金(U2013201);江苏省自然科学基金(BK20230883)资助。

摘　　要：针对存在未知扰动的多四旋翼无人机协同吊挂系统(Multi-quadrotor cooperative supension system,MQCSS),提出一种具有避碰和性能约束的分布式自适应积分反步跟踪控制(Distributed adaptive integral backstepping tracking control,DAIBC)方法.首先,设计新型的有限时间性能函数(Finite time performance function,FTPF)和人工势函数分别用于处理负载的跟踪约束和四旋翼无人机(Quadrotor unmanned aerial vehicle,QUAV)之间的避碰问题.然后,构造一种积分型的辅助变量并结合动态面技术设计反步控制器,实现四旋翼无人机的分布式编队运输负载.同时,将动态面技术与自适应调节机制相结合,对系统存在的未知干扰进行抑制.接着,给出严格的Lyapunov稳定性分析,证明闭环系统所有信号的最终一致有界.最后,通过数值对比仿真和实飞实验结果验证了所提方法的有效性.This paper presents a distributed adaptive integral backstepping tracking control(DAIBC) method for a multi-quadrotor cooperative suspension system(MQCSS) under unknown disturbances.The proposed approach addresses both collision avoidance and performance constraints.Initially,a novel finite-time performance function(FTPF) and an artificial potential function are formulated to manage load tracking constraints and prevent collisions among quadrotor unmanned aerial vehicle(QUAV).An integral auxiliary variable is then introduced,and a backstepping controller is designed using dynamic surface technology to facilitate the distributed formation transport of quadrotors.Additionally,the dynamic surface technique is integrated with an adaptive adjustment mechanism to mitigate unknown disturbances within the system.A rigorous Lyapunov stability analysis demonstrates the ultimate uniform boundedness of all signals in the closed-loop system.Finally,the effectiveness of the proposed method is validated through numerical comparative simulations and real flight experiments.

关 键 词：预设性能 自适应控制 人工势场 分布式编队 积分反步控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249