| 引用本文: | 孙文涵,鲜斌.基于方位信息的无人机编队控制设计与验证[J].控制理论与应用,2023,40(9):1537~1546.[点击复制] |
| SUN Wenhan,XIAN Bin.Bearing-only formation control for multiple unmanned aerial vehicles with real time experimental verification[J].Control Theory and Technology,2023,40(9):1537~1546.[点击复制] |
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| 基于方位信息的无人机编队控制设计与验证 |
| Bearing-only formation control for multiple unmanned aerial vehicles with real time experimental verification |
| 摘要点击 1320 全文点击 427 投稿时间：2022-07-07 修订日期：2023-09-25 |
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| DOI编号 10.7641/CTA.2023.20606 |
| 2023,40(9):1537-1546 |
| 中文关键词 多无人机编队 方位角编队控制 非线性控制 实验验证 |
| 英文关键词 multiple UAVs formation bearing-only formation control nonlinear control experimental verification |
| 基金项目 国家重点研发计划项目(2018YFB1403900), 国家自然科学基金项目(91748121, 90916004) |
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| 中文摘要 |
| 本文主要研究了无人机编队的抗扰跟踪控制设计. 针对各无人机只能获取邻机方位信息的情况, 文章设计了一种新的非线性控制器以完成多无人机系统的编队形成与跟踪任务. 考虑到无人机系统易受外界扰动影响的特性, 采用Leader-Follower式编队方法, 通过引入Leader位置信息来矫正基于方位信息的无人机编队系统的位置漂移.将反步法设计结合自适应设计与鲁棒控制设计, 来补偿未知参数与未知外界扰动对多无人机编队系统造成的影响,提高了多无人机方位编队系统的鲁棒性. 然后, 基于Lyapunov分析方法证明了系统的稳定性. 最后, 搭建了四旋翼无人机编队实验平台, 进行了基于方位信息的编队形成与跟踪飞行实验, 并与PD控制器进行了对比实验. 飞行实验结果验证了算法的有效性与实用性. |
| 英文摘要 |
| In this paper, the disturbance rejection tracking control design of multiple unmanned aerial vehicles (UAVs) is investigated. A new nonlinear formation control strategy which only depends on the bearing information is developed for the tracking control of multiple UAVs that are subjected to unknown external disturbances. Considering that the UAVs system is susceptible to external disturbance, the Leader-Follower formation method is adopted to correct the position drift of the formation system by introducing the Leader’s position information. In order to compensate the effects of unknown parameters and unknown external disturbances associated with the multiple UAVs, the backstepping method is combined with the adaptive control and robust control method, hence the robustness of the multiple UAVs bearing-only formation system is improved. The stability of the closed loop system is proved via Lyapunov based analysis. Finally, the formation experiment platform of quadrotors is built, and the experiment which forming and tracking the target formation based on bearing information is achieved. Also, the PD control law is employed for comparison experiments. The experimental results show that the proposed control strategy has achieved good formation tracking performance. |
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