| 基于收缩理论的多无人机姿态自适应同步控制 |
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| 引用本文： | 张果,曹立佳,卢天秀,林达. 基于收缩理论的多无人机姿态自适应同步控制[J]. 信息与控制, 2020, 0(2): 170-176,187 |
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| 作者姓名： | 张果 曹立佳 卢天秀 林达 |
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| 作者单位： | 人工智能四川省重点实验室;四川轻化工大学自动化与信息工程学院;四川省智慧旅游研究基地;四川轻化工大学数学与统计学院;徐州工程学院信电工程学院 |
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| 基金项目： | 国家自然科学基金资助项目(11501391);四川省科技计划资助项目(19ZDZX0037);四川理工学院人才引进项目(2018RCL18);四川省智慧旅游研究基地规划资助项目(ZHZJ18-01)。 |
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| 摘 要： | 针对无人机(UAV)模型参数不确定的情况,研究了集成姿态同步和轨迹跟踪问题于统一框架内的控制方法.在无人机拉格朗日动力学模型中,使用收缩理论进行精确的非线性稳定性证明,将多无人机姿态全局指数同步并收敛到共同的时变轨迹中.在外部干扰影响下,分别对模型参数已知与不确定情形下进行了仿真实验,表明了所提出方法的鲁棒性,并验证了姿态同步快于轨迹跟踪速度的收缩特性.
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| 关 键 词： | 收缩理论 姿态同步 自适应 拉格朗日模型 |
Multi-UAV Attitude Adaptive Synchronization Control Based on Contraction Theory |
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| ZHANG Guo,CAO Lijia,LU Tianxiu,LIN Da. Multi-UAV Attitude Adaptive Synchronization Control Based on Contraction Theory[J]. Information and Control, 2020, 0(2): 170-176,187 |
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| Authors: | ZHANG Guo CAO Lijia LU Tianxiu LIN Da |
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| Affiliation: | (Artificial Intelligence Key Laboratory of Sichuan Province,Yibin 643000,China;School of Automation&Information Engineering,Sichuan University of Science&Engineering,Yibin 643000,China;Intelligent Tourism Research Base of Sichuan Province,Zigong 643000,China;School of Department of Mathematics and statistics,Sichuan University of Science&Engineering,Yibin 643000,China;School of Information and Electronics Engineering,Xuzhou University of Technology,Xuzhou 221111,China) |
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| Abstract: | We analyze the control methods for integrated attitude synchronization and trajectory tracking in a unified framework with uncertain UAV model parameters.The stability analysis of the multi-UAV Lagrangian dynamic model based on the contraction theory indicates that the global index is synchronized and converges to a common time-varying trajectory.Under the influence of external disturbance,we complete the simulation of the model with certain and uncertain parameters,which shows the robustness of the proposed method.The contraction characteristics indicate that the attitude synchronization velocity is faster than the trajectory tracking velocity. |
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| Keywords: | contraction theory attitude synchronization adaptive Lagrangian model |
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