多四旋翼无人机系统分布式分层编队合围控制

郑伟铭; 徐扬; 罗德林

doi:10.13700/j.bh.1001-5965.2020.0725

多四旋翼无人机系统分布式分层编队合围控制

doi: 10.13700/j.bh.1001-5965.2020.0725

郑伟铭¹,
徐扬^{2, 3},
罗德林^1, ,

1.
厦门大学航空航天学院, 厦门 361102
2.
西北工业大学民航学院, 西安 710072
3.
西北工业大学太仓长三角研究院, 苏州 215400

基金项目:

航空电子系统综合技术重点实验室和航空科学基金联合资助项目 20185568005

详细信息

通讯作者:
罗德林, E-mail: luodelin1204@xmu.edu.cn

中图分类号: V221⁺.3;TB553
计量
- 文章访问数: 414
- HTML全文浏览量: 54
- PDF下载量: 75
- 被引次数: 0
出版历程
- 收稿日期: 2020-12-31
- 录用日期: 2021-02-06
- 网络出版日期: 2022-06-20
- 整期出版日期: 2022-06-20

Distributed hierarchical formation-containment control of multiple quadrotor UAV systems

ZHENG Weiming¹,
XU Yang^{2, 3},
LUO Delin^{1
, ,}

1.
School of Aerospace Engineering, Xiamen University, Xiamen 361102
2.
School of Civil Aviation, Northwestern Polytechnical University, Xi'an 710072, China
3.
Yangtze River Delta Research Institute of NPU, Taicang, Suzhou 215400, China

Funds:

Jointly Supported by the Science and Technology on Avionics Integration Laboratory and the Aeronautical Science Foundation of China 20185568005

More Information

Corresponding author: LUO Delin, E-mail: luodelin1204@xmu.edu.cn

摘要

摘要:
针对带有多个领航者与跟随者的欠驱动四旋翼无人机群系统, 提出了一种分布式分层编队合围控制方法。设计分层分布式有限时间滑模估计器, 实现在仅有部分领航者获取到期望轨迹的条件下, 每架无人机都能生成其满足控制需求的估计位置信息。针对六自由度欠驱动四旋翼无人机模型的特点, 提出一种无人机位置层和姿态层的分层控制方法, 实现了无人机对所生成的估计位置的跟踪控制, 该方法采用高阶导数逼近算法, 防止在求解期望角速度的过程中出现微分爆炸。所提方法能在满足姿态稳定收敛的条件下实现有效的编队合围控制。通过数值仿真验证了所提方法的有效性。
- 编队合围控制 /
- 编队控制 /
- 四旋翼无人机 /
- 欠驱动系统 /
- 分布式控制
Abstract:
For the under-actuated quadrotor UAV swarm systems with multiple leaders and followers, a distributed hierarchical formation-containment control method is proposed. First, a hierarchical distributed finite-time sliding mode estimator is designed to achieve that each UAV can generate estimated position information that meets the control needs under the condition that only some leaders can obtain the desired trajectory. Then, considering the research object is an under-actuated six-degree-of-freedom quadrotor UAV model, a hierarchical control method of the UAV position layer and the attitude layer is proposed, which realizes the tracking control of the generated estimated position. This method adopts a high-order derivative approximation algorithm to prevent differential explosions in the process of solving the desired angular velocity. The given method can realize the effective formation-containment under the condition of satisfying the stable convergence of attitude. Finally, the accuracy and effectiveness of the proposed method are verified through numerical simulation.
- formation-containment control /
- formation control /
- quadrotor UAV /
- under-actuated system /
- distributed control

HTML全文

图 1 四旋翼无人机示意图

Figure 1. Schematic diagram of quadrotor UAV

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图 2 编队合围控制架构

Figure 2. Formation-containment control architecture

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图 3 通信拓扑

Figure 3. Communication topology

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图 4 两种编队在空间中的航迹

Figure 4. Trajectories of two type of formations in space

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图 5 领航者与跟随者的期望速度估计误差

Figure 5. Estimated errors of leader and follower desired velocities

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图 6 领航者与跟随者的估计速度跟踪误差

Figure 6. Tracking errors of leader and follower estimated velocities

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图 7 领航者与跟随者的期望位置估计误差

Figure 7. Estimated errors of leader and follower desired positions

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图 8 领航者与跟随者的估计位置跟踪误差

Figure 8. Tracking errors of leader and follower estimated positions

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图 9 领航者与跟随者的角速度跟踪误差

Figure 9. Tracking errors of leader and follower angular velocities

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图 10 领航者与跟随者的姿态跟踪误差

Figure 10. Tracking errors of leader and follower attitude

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图 11 第3架与第16架四旋翼无人机对估计速度1~3阶导数的逼近误差

Figure 11. Approximation errors of the first to third derivatives of the 3rd and 16th quadrotor UAVs' estimated velocities

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图 12 两种编队合围航迹

Figure 12. Formation-containment trajectories of two type of formations

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表 1 仿真条件

Table 1. Simulation conditions

控制参数	初始状态
α₁=α₂=α₃=α₄=8 k_Ξ=k_d=1.5 k_s=2 k_q=k_β=20 k_Ψ=0.1 ζ₀=ζ₁=ζ₂=ζ₃=0.4 ξ₀=ξ₁=ξ₂=ξ₃=0.2	p₁(0)=[－2 2 0]^T, p₂(0)=[2 2 0]^T p₃(0)=[2 －2 0]^T, p₄(0)=[－2 －2 0]^T p₅(0)=[－4 4 0]^T, p₆(0)=[4 4 0]^T p₇(0)=[4 －4 0]^T, p₈(0)=[－4 －4 0]^T p₉(0)=[－6 6 0]^T, p₁₀(0)=[6 6 0]^T p₁₁(0)=[6 －6 0]^T, p₁₂(0)=[－6 －6 0]^T p₁₃(0)=[－12 12 0]^T, p₁₄(0)=[12 12 0]^T p₁₅(0)=[12 －12 0]^T, p₁₆(0)=[－12 －12 0]^T
Δ₀=Δ₁=Δ₂=Δ₃=－1	v_i(0)=[0 0 0]^T, i∈1, 2, …, 16 ω_i(0)=[0 0 0]^T, i∈1, 2, …, 16 Q_i(0)=[0 0 0 1]^T, i∈1, 2, …, 16

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