基于方向信息的无人机自适应事件触发编队控制算法  

Adaptive Event-Triggered Formation Control for UAVs Based on Relative Bearing

作　　者：赵丽辉[1] 刘志芳 汪德志 ZHAO Lihui;LIU Zhifang;WANG Dezhi(Henan Technical College of Construction,Zhenzhou 450000 China;School of Information and Engineering Zhengzhou University,Zhengzhou 450000 China;China Electronic Technology Cyber Security Co.Ltd.,Chengdu 610000 China)

机构地区：[1]河南建筑职业技术学院,郑州450000 [2]郑州大学信息工程学院,郑州450000 [3]中国电子科技网络信息安全有限责任公司,成都610000

出　　处：《电光与控制》2025年第2期32-37,共6页Electronics Optics & Control

基　　金：国家自然科学基金(62001423)。

摘　　要：探讨了领导者-跟随者结构下的无人机编队控制问题。针对传统编队控制依赖外部定位设备和通信设备的问题,设计了一种基于方向信息的自适应事件触发编队控制策略,利用片上摄像头测量相对方向,以减少对外部设备的依赖;进一步针对编队系统的建模误差和外部扰动设计了模糊系统,并将事件触发机制、自适应策略与反演控制相结合,设计了一种新型的方向编队控制器,不仅实现了编队控制,而且避免了控制律的连续更新,从而节约了无人机的计算资源;接着,基于Lyapunov理论证明了闭环控制系统的稳定性;最后,通过仿真实验验证了所提控制策略的有效性。The formation control of UAV under the leader-follower structure is explored.Aiming at the problem that traditional formation control relies on external positioning equipment and communication equipment an adaptive event-triggered formation control method based on bearing information is designed which measures the relative bearing by utilizing on-board camera to reduce the dependence on external equipment.A fuzzy system is further designed for the modeling error and external disturbance of the formation system and a novel bearing formation controller is designed by combining the event-triggering mechanism adaptive strategy and inversion control.This method not only realizes the formation control but also avoids the continuous update of the control law thus saving the computational resources of the UAV.Subsequently the stability of the closed-loop control system is proved based on Lyapunov theory.Finally the effectiveness of the proposed controller is verified by simulation experiment.

关 键 词：无人机编队 方向信息 模糊系统 事件触发 反演控制 

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]