Design of Tracking Control Laws and Information Architecture for Cooperative Formation of Unmanned Aerial Vehicles

doi:10.7652/xjtuxb201906018

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Design of Tracking Control Laws and Information Architecture for Cooperative Formation of Unmanned Aerial Vehicles

更新时间：2025-07-09

- Design of Tracking Control Laws and Information Architecture for Cooperative Formation of Unmanned Aerial Vehicles
- Vol. 53, Issue 6, Pages: 134-141(2019)
- 作者机构：
  
  西北工业大学自动化学院,西安,710129
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb201906018
  CLC： TP237
- Online First：10 June 2019，
  
  Published：2019
- 稿件说明：
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Design of Tracking Control Laws and Information Architecture for Cooperative Formation of Unmanned Aerial Vehicles[J]. 2019, 53(6): 134-141.
DOI：

Design of Tracking Control Laws and Information Architecture for Cooperative Formation of Unmanned Aerial Vehicles[J]. 2019, 53(6): 134-141. DOI： 10.7652/xjtuxb201906018.

摘要

针对“长机-僚机”模式的无人机编队追踪运动目标出现姿态信息和位置信息不一致而导致碰撞的问题

设计了一种协同追踪控制器并对该控制器进行稳定性分析。该控制器以3架无人机构成的编队作为控制体

采用拉氏矢量场方法获取无人机编队追踪运动目标的轨迹

同时构建无人机之间的信息架构

实现无人机编队按照预期的姿态和位置信息在运动目标周围的圆形轨道飞行的目的。研究单架无人机的航迹规划和多无人机编队协同追踪:对于单架无人机的航迹规划

采用反馈控制完成航向收敛证明; 对于多无人机编队

采用一种多变量控制器可以保持无人机编队在圆形轨道运动

同时使用未知风和运动目标的自适应估计量来确定无人机编队在圆形轨道飞行的稳定性。仿真结果表明:在追踪过程中

3架无人机能够快速(15 s)以相同的姿态和位置渐进靠近目标

同时保持相对稳定; 在满足航向速率和空速条件时

任意两架无人机相对距离误差能够快速(10 s)收敛到稳定值。该控制器突破了多无人机编队近距协同追踪目标的局限

可为多无人机分布式控制器设计提供方法借鉴。

Abstract

A UAV cooperative formation tracking controller is designed to address collisions between unmanned aerial vehicles(UAVs)due to the inconsistent information of attitude and position when they track a moving target

and the flight-stability of the designed controller is analyzed. The path planning of a single UAV and the orbit of a multi-UAV cooperative formation tracking a moving target are studied. A feedback control is used to ensure heading convergence for the path planning of a single UAV. Moreover

a guidance vector field method is proposed to achieve heading convergence

and it is able to analyze and solve the collision problem between the UAVs. Further

a multiple variables controller is used to maintain the cooperative UAV formation in a circular orbit during flight

and adaptive estimations for unknown wind conditions and moving targets are used to determine the flight stability of the formation in the circular orbit. Simulation results show that a formation of three UAVs rapidly get close to a target with the same attitude and position while remaining relatively stable

and the relative distance error between any two UAVs rapidly converges to the stable value in the case of unknown wind conditions and moving targets. This study provides an effective way for closely and cooperatively tracking target

and facilitates multi-UAV distributed controller design.

关键词

Keywords

references

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