北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (11): 2343-2349.doi: 10.13700/j.bh.1001-5965.2018.0036

• 论文 • 上一篇    下一篇

带吊挂负载的四旋翼无人机滚动纳什控制

郭民环, 苏岩, 朱欣华   

  1. 南京理工大学 机械工程学院, 南京 210094
  • 收稿日期:2018-01-12 修回日期:2018-04-13 出版日期:2018-11-20 发布日期:2018-11-27
  • 通讯作者: 苏岩,E-mail:suyan@njust.edu.cn E-mail:suyan@njust.edu.cn
  • 作者简介:郭民环,男,博士研究生。主要研究方向:无人机的控制与导航;苏岩,男,博士,教授,博士生导师。主要研究方向:MEMS传感器、惯性导航和红外传感器;朱欣华,男,博士,教授,硕士生导师。主要研究方向:MEMS传感器、惯性导航和嵌入式系统。

Receding Nash control for quadrotor UAVs carrying a cable-suspended payload

GUO Minhuan, SU Yan, ZHU Xinhua   

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
  • Received:2018-01-12 Revised:2018-04-13 Online:2018-11-20 Published:2018-11-27

摘要: 2个四旋翼无人机(UAVs)的吊挂飞行问题属于协同合作的范畴,现有的很多应用将该问题考虑为只有一个目标函数的控制系统。为了充分利用无人机各自的性能,将其看成是具有不同目标函数的决策主体,并在非合作博弈的框架下进行控制器设计。首先,建立了受控系统的数学模型及其线性形式,同时引入作用在吊挂负载上的外部干扰。然后,将该模型转换成开环信息结构下的有限时间差分博弈问题,并将该问题的纳什均衡解和滚动优化的思想相结合,设计一种基于状态反馈的滚动纳什控制器。最后,通过2个仿真实例验证该方法可以很好地控制无人机进行协同与合作。

关键词: 四旋翼, 无人机(UAVs), 博弈论, 纳什均衡, 多智能体, 最优控制

Abstract: Transporting a cable-suspended payload with two quadrotor unmanned aerial vehicles (UAVs) involves controlling two quadrotor UAVs cooperatively. The existing methods formulate the problem into a control system with only one cost function. In this paper, in order to exploit their individual interest, quadrotor UAVs are considered as two decision-makers with different cost functions and its controller is designed in the framework of noncooperative game theory. Firstly, the system's mathematic model is built with the existence of exogeneous disturbances acting on the payload. Then its linearized form is given and considered as a difference game problem under an open-loop information structure. Based on its Nash equilibrium solution and receding optimization policy, a state-feedback receding-horizon Nash controller is designed. Finally, two numerical simulations are presented, which illustrate that the quad-rotors cooperative well with the proposed controller.

Key words: quadrotor, unmanned aerial vehicles (UAVs), game theory, Nash equilibrium, multi-agent, optimal control

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