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本文提出了一种基于二阶一致性的多无人机编队控制策略,通过邻接通信,引入位置和速度协同变量来产生控制命令。提出了协同导航算法和协同控制算法,它们分别控制位置和姿态,联合二者可保持特定几何队形。整个编队系统包含三部分:六自由度无人机模型、协同导航算法、协同控制算法,编队控制策略是闭环和全状态的。协同导航算法是二阶一致性算法,给出期望的加速度、俯仰角速率和偏航角速率。协同控制算法综合考虑纵向和横侧向机动,通过推导状态方程来设计协同控制律。分析了编队的闭环稳定性,给出了稳定的充分必要条件。利用同步技术,抑制了位置数据中的测量误差,提高了控制精度。仿真中,三维编队飞行验证了所提编队控制策略的可行性和有效性。
In this paper, a control strategy of multi-UAV based on the second-order consistency is proposed. The control commands are generated by introducing cooperative position and speed variables through the adjacency communication. A cooperative navigation algorithm and cooperative control algorithm are proposed, which respectively control the position and attitude, and the two can keep a specific geometric formation. The formation of the entire system consists of three parts: six degrees of freedom UAV model, collaborative navigation algorithm, collaborative control algorithm, formation control strategy is closed-loop and state. The coordinated navigation algorithm is a second-order consensus algorithm that gives the desired acceleration, pitch rate, and yaw rate. The cooperative control algorithm considers the longitudinal and transverse maneuver synthetically and designs the cooperative control law by deriving the state equation. The closed-loop stability of formation is analyzed, and the sufficient and necessary conditions of stability are given. Using the synchronization technology, the measurement error in the position data is suppressed and the control precision is improved. In the simulation, the three-dimensional formation flight verifies the feasibility and effectiveness of the proposed formation control strategy.