北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (4): 841-850.doi: 10.13700/j.bh.1001-5965.2017.0281

• 论文 • 上一篇    下一篇

基于自适应通信拓扑四旋翼无人机编队重构控制

马思迁1, 董朝阳1, 马鸣宇1, 王青2   

  1. 1. 北京航空航天大学航空科学与工程学院, 北京 100083;
    2. 北京航空航天大学自动化科学与电气工程学院, 北京 100083
  • 收稿日期:2017-05-05 出版日期:2018-04-20 发布日期:2018-04-27
  • 通讯作者: 董朝阳 E-mail:dongchaoyang@buaa.edu.cn
  • 作者简介:马思迁,男,硕士研究生。主要研究方向:飞行器协同控制;董朝阳,男,博士,教授,博士生导师。主要研究方向:飞行器设计,导航、制导与控制。
  • 基金资助:
    国家自然科学基金(61374012)

Formation reconfiguration control of quadrotor UAVs based on adaptive communication topology

MA Siqian1, DONG Chaoyang1, MA Mingyu1, WANG Qing2   

  1. 1. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2017-05-05 Online:2018-04-20 Published:2018-04-27
  • Supported by:
    National Natural Science Foundation of China (61374012)

摘要: 针对四旋翼无人机编队重构协同控制问题,基于切换通信拓扑结构的积分滑模控制(ISMC)方法进行了研究。根据四旋翼无人机间的通信拓扑关系以及编队重构特性,建立了四旋翼无人机编队模型。针对编队重构过程中可能出现的通信可靠性问题,提出了通信拓扑切换条件,结合积分滑模控制理论对切换通信拓扑条件下的协同控制器进行设计,并结合切换系统理论对编队系统稳定性进行了证明。仿真结果表明,无人机编队系统在编队重构过程中采用切换通信拓扑结构以及滑模控制方法能保证系统的稳定性,验证了方法的有效性。

关键词: 飞行编队控制, 有向拓扑, 自适应, 切换系统, 积分滑模, 四旋翼无人机

Abstract: This paper focuses on the cooperative control problem in formation reconfiguration of multiple flight vehicles, and the method of integral sliding mode control (ISMC) based on switching communication topology is investigated. The multiple flight vehicle system is modeled involving the connecting of communication topology and the character of formation reconfiguration of quadrotor UAV. The switching condition of the communication topology is raised considering the possible communication reliability problem in the process of formation reconfiguration. The cooperative controller is designed by ISMC method under the condition of switching topology communication, and its stability is proved adopting switching system theory. The simulation results show that the stability of UAV formation system can be ensured with ISMC method and switching communication topology in the process of formation reconfiguration, and illustrate the effectiveness of the proposed method.

Key words: flight formation control, directed topology, adaptive, switching system, integral sliding mode, quadrotor UAV

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