具有领导-跟随双层编队的UAV集群跟踪控制

张青川; 王乐; 席建祥; 王成

doi:10.13700/j.bh.1001-5965.2022.0607

具有领导-跟随双层编队的UAV集群跟踪控制

doi: 10.13700/j.bh.1001-5965.2022.0607

火箭军工程大学导弹工程学院，西安 710025

基金项目: 国家自然科学基金 (62176263,62103434,62003363)；中国博士后科学基金(271004)；陕西省杰出青年科学基金(2021JC-35)；陕西省青年科学基金(2021JQ-375)

详细信息

通讯作者:
E-mail：xijx07@mails.tsinghua.edu.cn

中图分类号: V221⁺.3；TB553
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出版历程
- 收稿日期: 2022-07-09
- 录用日期: 2022-08-15
- 网络出版日期: 2022-10-09
- 整期出版日期: 2024-07-18

Tracking control of unmanned aerial vehicle swarms with leader-following double formation

College of Missile Engineering，Rocket Force University of Engineering，Xi’an 710025，China

Funds: National Natural Science Foundation of China (62176263,62103434,62003363); China Postdoctoral Science Foundation (271004); Science Foundation for Distinguished Youth of Shaanxi Province (2021JC-35); Youth Science Foundation of Shaanxi Province (2021JQ-375)

More Information

Corresponding author: E-mail：xijx07@mails.tsinghua.edu.cn

摘要

摘要:
针对具有多个领导者的四旋翼无人机集群，提出领导-跟随双层结构时变编队跟踪控制分析与设计方法。利用无人机局部邻域信息，构造时变编队跟踪控制协议；基于领导-跟随双层编队通信拓扑结构，给出编队中心的显式表达式和编队跟踪的充分条件；通过构造并求解代数Riccati方程，提出一种领导-跟随双层结构编队跟踪控制协议的设计方法；利用四旋翼无人机集群飞行平台开展领导-跟随双层结构编队跟踪飞行实验。结果表明：所设计的领导-跟随双层结构编队跟踪控制协议可以驱使具有多个领导者的四旋翼无人机集群系统形成期望的领导-跟随双层编队结构，验证了所提方法的有效性。
- 领导-跟随双层编队结构 /
- 时变编队控制 /
- 编队跟踪 /
- 四旋翼无人机 /
- 分布式
Abstract:
In this paper, for a quadrotor unmanned aerial vehicle swarm with multiple leaders, a time-varying formation tracking control analysis and design method is proposed to realize the leader-following double formation structure. First, time-varying formation tracking protocols are constructed based on the neighboring information of UAVs. Next, using the leader-following double communication topology structure as a foundation, an explicit explanation of the formation center function and necessary requirements of formation tracking are suggested. Besides, a method to design the leader-following double structures formation tracking protocol is presented by solving an algebraic Riccati equation. Finally, the flight experiment of the leader-following double structure formation tracking was carried out by using the quadrotor UAV swarm flight platform. The experimental results validate the theoretical conclusions by demonstrating that the quadrotor UAV swarms system can be driven by the leader-following double structures formation tracking control protocol to build the necessary leader-following double formation structures.
- leader-following double formation structure /
- time-varying formation control /
- formation tracking /
- quadrotor unmanned aerial vehicle /
- distributed

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图 1 领导层和跟随层的节点关系

Figure 1. The nodes relationship schematic between the leadership layer and the following layer

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图 2 实验平台

Figure 2. Experimental platform

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图 3 QUAV系统的通信拓扑

Figure 3. Communication topology of QUAV system

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图 4 领导者无人机轨迹

Figure 4. Trajectories of leader QUAVs

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图 5 跟随者无人机轨迹

Figure 5. Trajectories of follower QUAVs

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图 6 领导者无人机的速度

Figure 6. Velocity of leader QUAVs

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图 7 跟随者无人机的速度

Figure 7. Velocity of follower QUAVs

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图 8 领导者无人机编队误差

Figure 8. Formation error of leader QUAVs

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图 9 跟随者无人机编队跟踪误差

Figure 9. Formation tracking error of follower QUAVs

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图 10 实飞实验

Figure 10. Flight experiment

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