Formation reconfiguration control of quadrotor UAVs based on adaptive communication topology
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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。
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.
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Key words:
- flight formation control /
- directed topology /
- adaptive /
- switching system /
- integral sliding mode /
- quadrotor UAV
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图 4 四旋翼无人机编队重构仿真结果
Figure 4. Reconfiguration simulation results of quadrotor UAV formation
表 1 无人机初始状态
Table 1. Initial conditions of UAV
无人机编号 位置/m 速度/(m·s-1) 1 [3, 1, 50] [-0.1, 0, 1] 2 [-1, 3, 50] [-0.3, -0.1, 1] 3 [2, -1, 50] [-0.1, -0.1, 1] 4 [1, 1, 50] [-0.1, 0, 1] 5 [0, 0, 52] [0, -0.1, 0] 
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表 2 有向拓扑权重
Table 2. Weight of directed topology
无人机编号 1 2 3 4 5 1 0.77 0.56 0.69 0.27 2 0.78 0.74 0.66 0.53 3 0.63 0.75 0.73 0.62 4 0.55 0.68 0.80 0.82 5 0.31 0.49 0.61 0.74
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