摘要
针对四旋翼无人机编队形成与保持问题,文中设计了一种分布式预测控制方法,基于状态输入约束下的编队运动模型,将编队的形成与保持过程转化为在线滚动优化问题,设计了分布式交互控制律,给出了编队系统稳定的充分条件,并以文中算法和未引入假设状态轨迹代价函数的控制算法进行了仿真和对比。仿真结果表明:相较于传统算法,文中算法编队在队形保持方面将队形误差收敛速度提高1 s;在轨迹跟踪方面将位置误差收敛速度提高2 s;并且3个方向速度均能在2 s左右达成一致最终收敛至期望速度。证明了文中所设计控制算法的有效性。
The paper focuses on the formation of four-rotor UAVs and its control.A distributed predictive control method is designed.Based on the formation motion model under the state input constraints,the process of the formation of UAVs and its maintenance is transformed into the issue of online rolling optimization.A distributed interactive control law is designed,and the sufficient conditions for the stability of the formation system are given.A comparison is made between the algorithm proposed in this paper and the control algorithm with no cost function of the assumed state trajectory.The simulation results show that by the new algorithm,the convergence speed of formation error is increased by 1 s in the aspect of formation maintenance and in the aspect of trajectory tracking,the convergence speed of position error is increased by 2 s,and that the velocities in the three directions can become consistent in about 2 s and finally converge to the desired velocity.The results prove that the new algorithm is effective.
作者
马卓
陈忠孝
冯怡菲
卢峰宇
陈笑颖
MA Zhuo;CHEN Zhongxiao;FENG Yifei;LU Fengyu;CHEN Xiaoying(School of Electronic Information Engineering,Xi’an University of Technology,Xi’an 710021,China)
出处
《西安工业大学学报》
CAS
2023年第1期66-73,90,共9页
Journal of Xi’an Technological University
基金
陕西省科技计划(2019GY-076)。
关键词
无人机
分布式控制
编队控制
预测控制
unmaned aerial vehicle
distributed control
formation control
predictive control
