一种多约束下无人机编队的模型预测控制算法

针对多无人机在编队飞行过程中需满足机间避碰、通信、避障等约束的问题,设计一种考虑多约束的分布式模型预测控制算法,使无人机编队在满足上述约束的前提下,实现轨迹跟踪、队形保持.首先,在不考虑通信时延、外界干扰、噪声的情况下,以四旋翼为控制对象,建立线性时不变的单机及编队运动模型;然后,在考虑状态约束、输入约束、机间避碰、机间通信、避障等多种约束的情况下,以轨迹跟踪、队形保持为控制目标,基于虚拟领航策略设计一种分布式模型预测控制算法;接着,对优化问题的可行性以及编队系统的渐近稳定性进行分析,其中算法的终端部分设计、相容性约束设计是保证系统稳定的关键;最后,利用6架无人机仿真验证所提出控制算法的有效性.

An algorithm of model predictive control for formation control of a multi-UAV system considering multiple constraints

In the process of formation flight, multiple UAVs have to meet the constraints of collision avoidance between the UAVs, communication distance, and obstacle avoidance. In order to realize trajectory tracking and formation keeping of a multi-UAV system on the premise of meeting the above constraints, a distributed model predictive control algorithm considering multiple constraints is designed. Firstly, the linear time-invariant motion models of the single UAV and formation system are established without considering the communication time delay, external interference and noise. Then, the distributed model predictive control algorithm is designed based on the virtual leader strategy, considering various constraints such as state constraints, input constraints, obstacle avoidance, collision avoidance and communication between individuals, with trajectory tracking and formation keeping as the control objectives. Furthermore, the feasibility of the optimization problem and the asymptotic stability of the formation system are analyzed, the keys to ensure the stability of the system are the designs of the terminal part and compatibility constraints of the algorithm. Finally, the effectiveness of the control algorithm is verified by the simulation of six UAVs.