分布式多无人机的时变编队非线性控制设计

研究了基于分布式通信网络的多无人机时变编队控制问题,考虑到外界扰动对多无人机协同编队系统的影响,提出一种新的连续非线性鲁棒编队控制方法.首先基于一致性方法构造了分布式无人机编队误差系统,降低了编队控制器对全局编队信息的要求;然后采用一种基于误差符号函数积分的鲁棒控制算法补偿未知外界扰动的影响,提高了无人机编队系统的鲁棒性,并基于Lyapunov分析的方法,证明了多无人机编队误差的半全局渐进收敛性;最后在四旋翼无人机编队实验平台上进行了多无人机时变编队的实时实验验证,实验结果表明,所提出的分布式编队控制算法可以实现多无人机时变编队控制,且具有较好的协同性能和抗干扰能力.

Time-varying formation nonlinear control of distributed multiple UAVs

In this paper, the time-varying formation control of multiple UAVs based on distributed communication networks is investigated. Considering the effects of unknown disturbances on the cooperative formation system of multiple UAVs, a new continuous nonlinear robust control scheme is proposed. Firstly, a distributed formation error system is constructed based on the consistency method, which reduces the dependence of global formation information for the formation controller. Secondly, a robust control algorithm based on the integration of error sign function(RISE) is employed to compensate the effects of unknown external disturbances and improve the robustness of the closed-loop system. Thirdly, the semi-global asymptotic convergence of the formation error is proved via Lyapunov based stability analysis. Finally, real-time flight experiments are performed on the multiple quadrotor UAVs testbed to validate the proposed formation control scheme. The experimental results show that the distributed formation control algorithm proposed in this paper can achieve good time-varying formation control performance under the effects of external disturbances.