大规模空投中的多翼伞一致性控制算法

翼伞大规模空投广泛用于物资运输或救援救灾,可将大量物资或人员依次运输至指定目标位置,通过分析可以看出其控制目标与多智能体一致性控制问题的控制目标高度一致,但翼伞存在强非线性特性,难以通过传统一致性算法实现精确控制和稳定性证明.因此,本文将采用八自由度动力学模型,在充分考虑翼伞非线性动力学特性的基础上,结合自抗扰控制与多...

Consensus control algorithm of multiple parafoils in mass airdrop

Mass airdrop is widely used in the supplies transportation or rescue mission, which can successively deliverlarge amounts of supplies or troops to the target position. By analyzing the control objective of the mass airdrop, it canbe observed that its objective is highly consistent with the objective of the consensus control of the multi-agent system.However, considering the parafoil system exists strong nonlinearity, it is hard to realize the accurate control and stabilityproof. For this reason, in this paper, an eight-degree of freedom model of the parafoil is applied. With the full considerationof the nonlinear dynamic characteristics, a distributed controller is designed by combining the active disturbance rejectioncontrol and the consensus control algorithm. With this method, the motion error of multiple parapets can converge to aneighborhood containing zero in finite time under the multiple external disturbances, including the time-delay, signal noiseand the variable communication topology. Meanwhile, the stability proof of the proposed controller is also presented.