无人机编队协同追踪控制律和编队信息架构

张佳龙 1; 闫建国 1; 肖冰 1; 吕茂隆 2

doi:10.7652/xjtuxb201906018

您当前的位置：

首页 >

文章列表页 >

无人机编队协同追踪控制律和编队信息架构

更新时间：2025-07-09

- 无人机编队协同追踪控制律和编队信息架构
- Design of Tracking Control Laws and Information Architecture for Cooperative Formation of Unmanned Aerial Vehicles
- 西安交通大学学报 2019年53卷第6期页码：134-141
- 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：
  
  : 2018-10-11。作者简介: 张佳龙(1990—),男,博士生;闫建国(通信作者),男,教授,博士生导师。基金项目: 国家自然科学基金资助项目(61873207);西北工业大学博士论文创新基金资助项目(CX201955)
- DOI：10.7652/xjtuxb201906018
  中图分类号： TP237
- 网络首发：2019-06-10，
  
  纸质出版：2019
- 稿件说明：
移动端阅览
张佳龙 1, 闫建国 1, 肖冰 1, 等. 无人机编队协同追踪控制律和编队信息架构[J]. 西安交通大学学报, 2019,53(6):134-141.

Design of Tracking Control Laws and Information Architecture for Cooperative Formation of Unmanned Aerial Vehicles[J]. 2019, 53(6): 134-141.
张佳龙 1, 闫建国 1, 肖冰 1, 等. 无人机编队协同追踪控制律和编队信息架构[J]. 西安交通大学学报, 2019,53(6):134-141. DOI： 10.7652/xjtuxb201906018.

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

OH K K, PARK M C, AHN H S. A survey of multi-agent formation control [J]. Automatica, 2015, 53,(C): 424-440.

BRANDAO A S, SARCINELLI-FILHO M. On the guidance of multiple UAV using a centralized formation control scheme and Delaunay triangulation [J]. Journal of Intelligent and Robotic Systems, 2016, 84(1/2/3/4): 397-413.

明平松, 刘建昌. 随机多智能体系统一致稳定性分析 [J]. 控制与决策, 2016, 31(3): 385-393.

MING Pingsong, LIU Jianchang. Consensus stability analysis of stochastic multi-agent systems [J]. Control and Decision, 2016, 31(3): 385-393.

ITO F S C, FILHO L C Q, INOUE R S, et al. Cooperative UAV formation control simulated in X-plane [C]∥Proceedings of the 2017 International Conference on Unmanned Aircraft Systems. Piscataway, NJ, USA: IEEE, 2017: 1522-1529.

张亚霄, 陈阳舟. 时变时滞与切换有向通信拓扑协议下线性多智能体系统一致性的平均驻留时间条件 [J]. 控制与决策, 2016, 31(2): 349-354.

ZHANG Yaxiao, CHEN Yangzhou. Average dwell-time condition for consensus of linear multi-agent systems with time-varying delay and switching directed communication topologies protocol [J]. Control and Decision, 2016, 31(2): 349-354.

CHAI Y, CAO K C. Distributed UAV formation control with two-hop relay protocol [C]∥Proceedings of the 36th Chinese Control Conference. Piscataway, NJ, USA: IEEE Computer Society, 2017: 8707-8712.

GARCIA E, CASBEER D W. Cooperative task allocation for unmanned vehicles with communication delays and conflict resolution [J]. Journal of Aerospace Computing Information Communication, 2015, 13(2): 1-13.

邵壮, 祝小平, 周洲, 等. 三维动态环境下多无人机编队分布式保持控制 [J]. 控制与决策, 2016, 31(6): 1065-1072.

SHAO Zhuang, ZHU Xiaoping, ZHOU Zhou, et al. Distributed formation keeping control of UAVs in 3-D dynamic environment [J]. Control and Decision, 2016, 31(6): 1065-1072.

DORFLER F, FRANCIS B. Geometric analysis of the formation problem for autonomous robots [J]. IEEE Transactions on Automatic Control, 2010, 55(10): 2379-2384.

FU Yu, WANG Xiangke, ZHU Huayong, et al. Parameters optimization of multi-UAV formation control method based on artificial physics [C]∥Proceedings of the 35th Chinese Control Conference. Piscataway, NJ, USA: IEEE Computer Society, 2016: 2614-2619.

周绍磊, 康宇航, 郭志强, 等. 具有通信时延下多无人机编队控制 [J]. 科技导报, 2017, 35(7): 77-82.

ZHOU Shaolei, KANG Yuhang, GUO Zhiqiang, et al. Formation control of multiple UAVs with communication delays [J]. Science and Technology Review, 2017, 35(7): 77-82.

FU Yu, WANG Xiangke, HUAN Liu, et al. Multi-UAV formation control method based on modified artificial physics [C]∥Proceedings of the 28th Chinese Control and Decision Conference. Piscataway, NJ, USA: IEEE, 2016: 2523-2529.

YU Xiang, LI Peng, ZHANG Youmin. Fault-tolerant control design against actuator faults with application to UAV formation flight [C]∥Proceedings of the 36th Chinese Control Conference. Piscataway, NJ, USA: IEEE, 2017: 7167-7171.

ZHU Xu, YAN Maode, ZHANG Changli, et al. UAV formation collision avoidance control method based on improved artificial potential field [J]. Journal of Harbin Engineering University, 2017, 38(6): 961-968.

FREW E W, LAWRENCE D A, MORRIS S, et al. Coordinated standoff tracking of moving targets using Lyapunov guidance vector fields [J]. Journal of Guidance Control and Dynamics, 2008, 31(2): 290-306.

杨盛毅, 刘超, 唐胜景, 等. 基于动态逆和动态滑模的双通道机动飞行控制 [J]. 系统仿真学报, 2018, 30(1): 156-163.

YANG Shengyi, LIU Chao, TANG Shengjing, et al. Dual channel maneuver flight control based on dynamic inverse and dynamic sliding mode [J]. Journal of System Simulation, 2018, 30(1): 156-163.

ARANDA M, ARAGÜÉS R, LÓPEZ-NICOLÁS G, et al. Connectivity-preserving formation stabilization of unicycles in local coordinates using minimum spanning tree [C]∥Proceedings of the 2016 American Control Conference. Piscataway, NJ, USA: IEEE, 2016: 1968-1974.

YU Xiao, XU Xiang, LIU Lu, et al. Circular formation of networked dynamic unicycles by a distributed dynamic control law [J]. Automatica, 2018, 89: 1-7.

TANABE S. The development of a UAV control system by using a two-dimensional code [J]. Special Paper of the Geological Society of America, 2016, 404(8): 105-128.

HERTZ F R. Global rigidity of certain Abelian actions by toral automorphisms [J]. Journal of Modern Dynamics, 2017, 1(3): 425-442.

JERMANN C, NEVEU B, TROMBETTONI G. A new structural rigidity for geometric constraint systems [M]. Automated Deduction in Geometry. Berlin, Germany: Springer, 2004: 87-105.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

对流扩散方程的拟谱格式稳定性分析及扩稳方法

电动车辆间接热系统快速除湿响应迟滞机理及优化控制策略

混合电解槽阵列协同的风光耦合制氢系统双层多目标优化

隧道内燃料电池汽车氢气泄漏扩散特性及影响因素

超临界二氧化碳向心透平轮背间隙内风阻损失及流动特性研究