改进几何控制四旋翼无人机集群轨迹跟踪  

Improved geometric control quadrotor UAV cluster trajectory tracking

作　　者：李莉[1,2] 李辉[1] 张雪梅[3] LI Li;LI Hui;ZHANG Xuemei(Sichuan University,Chengdu 610000,China;Unit 31306 of the PLA,Chengdu 610000,China;Army Engineering University of PLA,Nanjing 210000,China)

机构地区：[1]四川大学,成都610000 [2]中国人民解放军31306部队,成都610000 [3]陆军工程大学,南京210000

出　　处：《兵器装备工程学报》2025年第3期232-241,共10页Journal of Ordnance Equipment Engineering

摘　　要：针对单架无人机鲁棒性差、执行任务单一以及传统控制算法收敛速度慢、轨迹跟踪精度低等问题,提出一种改进几何控制的集群轨迹跟踪算法,对于研究四旋翼集群轨迹跟踪性能方面具有重要意义。所提算法基于一般几何控制器,由单架无人机控制改进设计无人机集群控制,采用“领导者-跟随者”拓扑结构及分布式集群控制策略,考虑通信时延等干扰因素,并通过AirSim/Matlab平台搭建仿真环境,验证了算法的有效性与优越性。根据仿真实验结果显示,所提算法在0.3 s通信时延下大曲率轨迹处的平均误差相对于一般几何控制器减少了33.077%,相对于LQR控制器减少了19.022%,能够更好地趋近目标轨迹,跟踪误差更小、收敛速度更快,波动幅度更小、编队稳定性能更强。Aiming at the problems of poor robustness,single task execution,slow convergence of traditional control algorithms and low tracking accuracy of a single UAV,an improved geometric control cluster tracking algorithm is proposed,which is of great significance for the study of quadrotor cluster tracking performance.The proposed algorithm is based on the general geometric controller,and the UAV cluster control is improved by the control of a single UAV.The“leader-follower”topology and distributed cluster control strategy are adopted,and interference factors such as collision avoidance and communication delay are considered.The simulation environment is built by AirSim/Matlab platform to verify the effectiveness and superiority of the algorithm.According to the simulation results,the average error of the proposed algorithm at the large-curvature trajectory with 0.3 s communication delay is reduced by 33.077%compared with the general geometric controller and 19.022%compared with the LQR controller.The proposed algorithm can approach the target trajectory better,with smaller tracking error,faster convergence rate,smaller fluctuation range and stronger formation stability performance.

关 键 词：几何控制 四旋翼 集群控制 轨迹跟踪 AirSim 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]