| 无人机编队的滚动时域控制 |
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| 引用本文： | 华思亮,尤优,张红,宋晗. 无人机编队的滚动时域控制[J]. 电光与控制, 2012, 19(3): 1-5. DOI: 10.3969/j.issn.1671-637X.2012.03.001 |
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| 作者姓名： | 华思亮 尤优 张红 宋晗 |
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| 作者单位： | 1.中航航空电子有限公司,北京100086;北京航空航天大学,北京100191;2.中航航空电子有限公司,北京,100086 |
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| 基金项目： | 中航工业集团创新基金(2009D31165) |
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| 摘 要： | 滚动时域控制(RHC)具有状态约束和输入约束处理、综合多控制目标、适应条件变化等特点,在编队控制领域渐受关注.无人机编队控制涉及队形描述、气动耦合、位置关系描述、控制算法等问题,针对目前应用范围较广的长机-僚机描述的松散编队控制,提出基于二次规划描述的RHC编队控制方法,设计了基于标准RHC的编队控制器.在此基础上,结合不变集理论设计了双模RHC编队控制器,分析了其应用局限性及对控制器参数设计的指导意义.仿真实验验证了控制律的有效性,并分析了控制器参数对闭环性能的影响.
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| 关 键 词： | 无人机 编队控制 滚动时域控制 |
| 收稿时间： | 2011-04-28 |
Receding Horizon Control of UAV Formations |
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| HUA Siliang,YOU You,ZHANG Hong,SONG Han. Receding Horizon Control of UAV Formations[J]. Electronics Optics & Control, 2012, 19(3): 1-5. DOI: 10.3969/j.issn.1671-637X.2012.03.001 |
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| Authors: | HUA Siliang YOU You ZHANG Hong SONG Han |
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| Affiliation: | 1(1.Avionics Co.,Ltd.,AVIC,Beijing 100086,China;2.Beihang University,Beijing 100191,China) |
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| Abstract: | Receding Horizon Control was appealing in formation control for its outstanding features:dealing with state and/or input constraint,multiple goals integration,flexibility to condition change,etc.Formation control of UAVs involved formation description,aerodynamic coupling,relative position description,control law,etc.The loose formation control with leader-follower description was widely used in practice,and a Receding Horizon Control (RHC) law was proposed for this issue,which was described by Quadratic Programming.A formation controller based on standard RHC was designed.Furthermore,a dual-mode RHC controller with invariant set theory was also designed,and its shortage and instruction was discussed.Simulation results demonstrated the effectiveness of the control law,and the effects of parameters were analyzed. |
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| Keywords: | UAV formation control receding horizon control |
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