考虑风扰的多无人机一致性编队队形控制  

Consensus-based formation control for UAV considering wind disturbance

作　　者：唐宏伟 王军权[1] 罗佳强 程翰超 胡金泽 TANG Hongwei;WANG Junquan;LUO Jiaqiang;CHENG Hanchao;HU Jinze(School of Mechanical and Energy Engineering,Shaoyang University,Shaoyang 422000,China;Hunan Engineering Technology Research Center of Special Equipment Electric Energy Conversion and Control,Shaoyang University,Shaoyang 422000,China)

机构地区：[1]邵阳学院机械与能源工程学院,湖南邵阳422000 [2]邵阳学院湖南省特种装备电能变换与控制工程技术研究中心,湖南邵阳422000

出　　处：《邵阳学院学报(自然科学版)》2025年第1期38-48,共11页Journal of Shaoyang University:Natural Science Edition

基　　金：湖南省自然科学基金(2022JJ50205);湖南省科技计划项目(2016TP1023);湖南省科技计划项目(2023TP2036);邵阳学院研究生科研创新项目(CX2023SY084)。

摘　　要：针对多无人机(unmanned aerial vehicle,UAV)一致性编队在侧风干扰条件下队形保持问题,提出了一种改进二阶一致性算法的UAV编队队形控制方法。首先建立风扰条件下的UAV运动学模型,利用领航者构建相对运动坐标系,以直观描述编队队形;然后通过一致性理论结合领航跟随法设计编队队形控制方法,领航者采用改进L1制导律以适应风扰影响,保证领航者准确跟踪期望航迹;同时跟随者通过采用扩展状态扰动观测器估计并补偿风扰误差,实现风扰条件下稳定的编队队形。最后在有无风扰状态进行对比仿真实验,结果表明,所提控制方法能有效抑制风扰影响,能较好维持稳定的编队队形。Maintaining consistent formation of multiple unmanned aerial vehicle(UAV)under crosswind interference is challenging.This paper proposed a consensus-based formation control method with an improved second-order coherence algorithm for UAV.Firstly,the kinematic model of UAV under wind disturbance conditions was established,and the relative motion coordinate system was constructed by taking the navigator as the coordinate origin to describe the formation visually.Then,the consensus-based formation control method integrated the consistency theory and the leader-follower method.The leader employed an improved L1 guidance law to effectively counteract the effects of wind disturbance,ensuring that the navigator accurately tracks the desired flight path.Meanwhile,the follower UAV utilized an extended state disturbance observer to estimate and compensate for wind disturbance errors to achieve stable formation under wind disturbances.Finally,comparative simulation experiments with or without wind disturbance were carried out.The results show that the proposed control method can effectively mitigate the impacts of wind disturbance,allowing for the maintenance of a stable formation.

关 键 词：无人机 一致性算法 L1制导律 扩展状态扰动观测器 队形稳定 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1