基于自适应预定时间反步控制的无人机编队策略  

UAV Formation Strategy Based on Adaptive Predefined-Time Backstepping Control

作　　者：张翔 黄宜庆 ZHANG Xiang;HUANG Yiqing(School of Electrical Engineering,Anhui Engineering University,Wuhu,Anhui 241000,China)

机构地区：[1]安徽工程大学电气工程学院,安徽芜湖241000

出　　处：《上海电力大学学报》2025年第2期162-171,181,共11页Journal of Shanghai University of Electric Power

基　　金：安徽高校协同创新项目(GXXT-2020-069)。

摘　　要：针对多架四旋翼无人机编队轨迹跟踪问题,提出了一种基于自适应预定时间反步控制的无人机编队策略。首先,设计预定时间滑模估计器估计无人机状态,得出期望位置信息;其次,根据无人机动力学模型,设计预定时间反步控制器,将期望位置信息作为控制器的输入,实现预定时间内无人机轨迹跟踪;最后,设计自适应控制率,消除外界不确定性干扰的影响,得到预定时间内稳定的飞行轨迹。仿真结果表明,该策略具有良好的实用性。In order to solve the problem of multi-quadrotor Unmanned Aerial Vehicle(UAV)formation trajectory tracking,a UAV sliding mode formation strategy based on predefined-time backstepping control is proposed.Firstly,a predefined-time sliding mode estimator is designed to estimate the relative state information of the pilot UAV and itself,and the expected position information is obtained.Secondly,a predefined-time backstepping controller is designed,with the designed position information serving as the impat to the controller,to achiver UAV trajectory tracking with a predefined time.Finally,the adaptive control rate is designed to eliminate the influence of external uncertainties and obtain a stable flight trajectory within the predefined time.The simulation results show that the proposed strategy has good practicability compared with the fixed-time control method.

关 键 词：编队轨迹跟踪 预定时间滑模估计器 期望位置信息 自适应预定时间反步控制 

分 类 号：TM615[电气工程—电力系统及自动化]