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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。
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.
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Key words:
- quadrotor /
- unmanned aerial vehicles (UAVs) /
- game theory /
- Nash equilibrium /
- multi-agent /
- optimal control
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图 2 带吊挂负载的四旋翼无人机(俯视)
Figure 2. Quadrotor UAVs carrying a cable-suspended payload (Top)
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