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摘要:
在未知干扰条件下，针对欠驱动、非线性的四旋翼无人机群编队控制问题，提出了一种抗干扰的固定时间编队控制方法。首先，设计分布式固定时间滑模估计器，在仅有部分无人机获取到期望轨迹的条件下，每架无人机都能快速估计出自己的期望位置信息。其次，引入固定时间干扰观测器用于估计未知的复合干扰，使无人机能够生成干扰估计值以抵消复合干扰对其带来的影响。然后，在无人机的位置层与控制层设计固定时间滑模控制器，实现对期望轨迹的跟踪，所给出的方法能够满足姿态稳定收敛。最后，数值仿真验证了所提出方法的有效性。
Abstract:A fixed-time formation control approach is proposed for the formation control of underactuated nonlinear quadrotor UAV swarm with unknown disturbances. Firstly, a distributed fixed-time sliding mode estimator is designed. Each UAV can quickly estimate its own desired position information under the condition that only some UAVs can obtain the desired trajectory. Secondly,in order for the UAV to produce disturbance estimates to counteract the impact of the compound disturbances, a fixed-time disturbance observer is also inserted to estimate the unknown compound disturbances. Then, fixed-time sliding mode controllers are designed in the position layer and control layer of the UAV to track the desired trajectory. The proposed method can satisfy the attitude stability convergence. Finally, the accuracy and effectiveness of the proposed method are verified through numerical simulation.
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Key words:
- quadrotor UAV /
- underactuated system /
- formation control /
- fixed-time control /
- disturbance observer
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表 1 仿真条件
Table 1. Simulation conditions
控制参数 初始状态 $ {\alpha _1} = 0.8,{\beta _1} = 2 $ $ {{\boldsymbol{p}}_1}\left( 0 \right)=\left[ { - 2 \;\;\; 2 \;\;\;0} \right]{\text{m}} $ $ {\alpha _2} = {\beta _2} = 1.2 $ $ {{\boldsymbol{p}}_2}\left( 0 \right)=\left[ {2 \;\;\;2 \;\;\; 0} \right]{\text{m}} $ $ {\xi _{v1}} = {\xi _{\omega 1}} = 0.5 $ $ {{\boldsymbol{p}}_{\text{3}}}\left( 0 \right)=\left[ {2 \;\;\; - 2 \;\;\;0} \right]{\text{m}} $ $ {\xi _{v2}} = {\xi _{\omega 2}} = 200 $ $ {{\boldsymbol{p}}_{\text{4}}}\left( 0 \right)=\left[ { - 2 \;\;\; - 2 \;\;\;0} \right]{\text{m,}} $ $ {\mu _{v1}} = {\mu _{\omega 1}} = 1.3 $ $ {{\boldsymbol{p}}_{\text{5}}}\left( 0 \right)=\left[ { - 2 \;\;\;0 \;\;\;0} \right]{\text{m}} $ $ {\mu _{v2}} = {\mu _{\omega 2}} = 0.5 $ $ {{\boldsymbol{p}}_{\text{6}}}\left( 0 \right)=\left[ {2 \;\;\;0 \;\;\;0} \right]{\text{m}} $ $ {\zeta _1} = {\zeta _1} = 0.1 $ $ {{\boldsymbol{v}}_i}\left( 0 \right)=\left[ {0 \;\;\;0 \;\;\;0} \right]{\text{m/s, }}i = 1,2, \cdots ,6 $ $ {\gamma _1} = {\varUpsilon _1} = {\varUpsilon _3} = 1.1 $ $ {{{\text{ω}}}_i}\left( 0 \right)=\left[ {0 \;\;\;0 \;\;\;0} \right]{\text{rad/s, }}i = 1,2, \cdots ,6 $ $ {\gamma _2} = {\varUpsilon _2} = {\varUpsilon _4} = 0.7 $ $ {{\boldsymbol{Q}}_i}\left( 0 \right)=\left[ {0 \;\;\;0 \;\;\;0 \;\;\;1} \right]{\text{, }}i = 1,2, \cdots ,6 $ $ {k_{{\rm{sp}}}} = 1,{k_{{\rm{sa}}}} = 3 $ $ {\lambda _{{\rm{sp}}1}} = {\lambda _{{\rm{sp}}2}} = 0.2 $ $ {\lambda _{{\rm{sa}}1}} = {\lambda _{{\rm{sa}}2}} = 0.4 $ 
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