基于一致性的三维多无人机高精度编队控制策略

闫茂德; 朱旭; 张逊逊; 屈耀红

doi:10.1631/FITEE.1600004

Your Location：

Home >

Browse articles >

基于一致性的三维多无人机高精度编队控制策略

常规文章 | Updated：2022-05-19

- 基于一致性的三维多无人机高精度编队控制策略
- Consensus-based three-dimensional multi-UAV formation control strategy with high precision
- 信息与电子工程前沿（英文） 2017年18卷第7期页码：968-977
- Affiliations：
  
  School of Electronic and Control Engineering, Chang'an University, Xi'an 710064, China
  School of Automation, Northwestern Polytechnical University, Xi'an 710129, China
- Author bio：
  
  [ "Mao-de YAN, E-mail:mdyan@chd.edu.cn" ]
  Xu ZHU, E-mail:zhuxu_1987@sina.com
  [ "Xun-xun ZHANG, E-mail:zhangxunxun0427@163.com" ]
  [ "Yao-hong QU, E-mail:qyh0809@nwpu.edu.cn" ]
- Funds：
  
  Project supported by the National Natural Science Foundation of China (No. 61473229), the Special Fund for Basic Scientific Research of Central Colleges, Chang'an University, China (Nos. 310832163403 and 310832161012), the Key Science and Technology Program of Shaanxi Province, China (No. 2017JQ6060), and the Xi'an Science and Technology Plan, China (No. CXY1512-3)
- DOI：10.1631/FITEE.1600004
  中图分类号： TP391
- 收稿：2016-01-04，
  
  修回：2017-;6-20，
  
  纸质出版：2017-07
- Accepted：
Scan QR Code
闫茂德, 朱旭, 张逊逊, 等. 基于一致性的三维多无人机高精度编队控制策略[J]. 信息与电子工程前沿（英文）, 2017,18(7):968-977.

Mao-de YAN, Xu ZHU, Xun-xun ZHANG, et al. Consensus-based three-dimensional multi-UAV formation control strategy with high precision[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(7): 968-977.
闫茂德, 朱旭, 张逊逊, 等. 基于一致性的三维多无人机高精度编队控制策略[J]. 信息与电子工程前沿（英文）, 2017,18(7):968-977. DOI： 10.1631/FITEE.1600004.

Mao-de YAN, Xu ZHU, Xun-xun ZHANG, et al. Consensus-based three-dimensional multi-UAV formation control strategy with high precision[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(7): 968-977. DOI： 10.1631/FITEE.1600004.

摘要

本文提出了一种基于二阶一致性的多无人机编队控制策略，通过邻接通信，引入位置和速度协同变量来产生控制命令。提出了协同导航算法和协同控制算法，它们分别控制位置和姿态，联合二者可保持特定几何队形。整个编队系统包含三部分：六自由度无人机模型、协同导航算法、协同控制算法，编队控制策略是闭环和全状态的。协同导航算法是二阶一致性算法，给出期望的加速度、俯仰角速率和偏航角速率。协同控制算法综合考虑纵向和横侧向机动，通过推导状态方程来设计协同控制律。分析了编队的闭环稳定性，给出了稳定的充分必要条件。利用同步技术，抑制了位置数据中的测量误差，提高了控制精度。仿真中，三维编队飞行验证了所提编队控制策略的可行性和有效性。

Abstract

We propose a formation control strategy for multiple unmanned aerial vehicles (multi-UAV) based on second-order consensus

by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration

managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model

the cooperative guidance algorithm

and the cooperative control algorithm

the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm

providing the desired acceleration

pitch rate

and heading rate. Longitudinal and lateral motions are jointly considered

and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed

and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation

three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.

关键词

Keywords

references

S. Aldo , , , B. Jaimes , , , M. Jamshidi . . Consensus-based and network control of UAVs . . Proc. 5th Int. Conf. on System of Systems Engineering , , 2010 . . p.1 - - 6 . . DOI: 10.1109/SYSOSE.2010.5544106 http://doi.org/10.1109/SYSOSE.2010.5544106 . .

A. Annamalai , , , A. Motwani , , , S.K. Sharma , , , 等 . . A robust navigation technique for integration in the guidance and control of an uninhabited surface vehicle . . J. Navigat. , , 2015 . . 68 ( ( 4 ): ): 750 - - 768 . . DOI: 10.1017/S0373463315000065 http://doi.org/10.1017/S0373463315000065 . .

C. Bai , , , H. Duan , , , C. Li , , , 等 . . Dynamic multi-UAVs formation reconfiguration based on hybrid diversityPSO and time optimal control . . Proc. IEEE Intelligent Vehicles Symp. , , 2009 . . p.775 - - 779 . . DOI: 10.1109/IVS.2009.5164376 http://doi.org/10.1109/IVS.2009.5164376 . .

D.J. Bennet , , , C.R. McInnes , , , M. Suzuki , , , 等 . . Autonomous three-dimensional formation flight for a swarm of unmanned aerial vehicles . . J. Guid. Contr. Dynam. , , 2011 . . 34 ( ( 6 ): ): 1899 - - 1908 . . DOI: 10.2514/1.53931 http://doi.org/10.2514/1.53931 . .

X. Chen , , , C. Zhang . . The method of multi unmanned aerial vehicle cooperative tracking in formation based on the theory of consensus . . Proc. 5th Int. Conf. on Intelligent Human-Machine Systems and Cybernetics , , 2013 . . p.148 - - 151 . . DOI: 10.1109/IHMSC.2013.182 http://doi.org/10.1109/IHMSC.2013.182 . .

H. Fukushima , , , K. Kon , , , F. Matsuno . . Model predictive formation control using branch-and-bound compatible with collision avoidance problems . . IEEE Trans. Robot. , , 2013 . . 29 ( ( 5 ): ): 1308 - - 1317 . . DOI: 10.1109/TRO.2013.2262751 http://doi.org/10.1109/TRO.2013.2262751 . .

H. Hou , , , R.X. Wei , , , Y. Liu , , , 等 . . UAV control method studied based on high-order sliding mode control . . Flight Dynam. , , 2011 . . 29 ( ( 1 ): ): 38 - - 41 . . DOI: 10.13645/j.cnki.f.d.2011.01.010 http://doi.org/10.13645/j.cnki.f.d.2011.01.010 . .

Y. Jing , , , X.P. Shi . . NDI formation controller design for UAV based on super twisting algorithm . . J. Syst. Eng. Electron. , , 2014 . . 36 ( ( 7 ): ): 1380 - - 1385 . . DOI: 10.3969/j.issn.1001-506X.2014.07.24 http://doi.org/10.3969/j.issn.1001-506X.2014.07.24 . .

S. Kim , , , Y. Kim . . Three dimensional optimum controller for multiple UAV formation flight using behavior based decentralized approach . . Proc. Int. Conf. on Control, Automation and Systems , , 2007 . . p.1387 - - 1392 . . DOI: 10.1109/ICCAS.2007.4406555 http://doi.org/10.1109/ICCAS.2007.4406555 . .

R. Kumar , , , P. Kabamba , , , D.C. Hyland . . Controller design using adaptive random search for close-coupled formation flight . . J. Guid. Contr. Dynam. , , 2005 . . 28 ( ( 6 ): ): 1323 - - 1326 . . DOI: 10.2514/1.11377 http://doi.org/10.2514/1.11377 . .

Y. Kuriki , , , T. Namerikawa . . Consensus-based cooperative control for geometric configuration of UAVs flying in formation . . Proc. SICE Annual Conf. , , 2013 . . p.1237 - - 1242 . . . .

Y. Kuriki , , , T. Namerikawa . . Consensus-based cooperative formation control with collision avoidance for a multi-UAV system . . Proc. American Control Conf. , , 2014 . . p.2077 - - 2082 . . DOI: 10.1109/ACC.2014.6858777 http://doi.org/10.1109/ACC.2014.6858777 . .

S. Li , , , Y. Chen , , , Z. Yang , , , 等 . . Formation fight control of multi-UAVs with communication delay . . Inform. Contr. , , 2012 . . 41 ( ( 2 ): ): 142 - - 146 . . DOI: 10.3724/SP.J.1219.2012.00142 http://doi.org/10.3724/SP.J.1219.2012.00142 . .

B. Liu , , , W. Tang . . Modern Control Theory , , : : Beijing China Machine Press , , 2000 . . p.193 - - 199 . . . .

D.A. Mercado , , , R. Castro , , , R. Lozano . . Quadrotors flight formation control using a leader-follower approach . . Proc. European Control Conf. , , 2013 . . p.3858 - - 3863 . . . .

W. Ren . . Consensus based formation control strategies for multi-vehicle systems . . Proc. American Control Conf. , , 2006 . . p.4237 - - 4242 . . DOI: 10.1109/ACC.2006.1657384 http://doi.org/10.1109/ACC.2006.1657384 . .

W. Ren , , , R. Beard . . Virtual structure based spacecraft formation control with formation feedback . . Proc. AIAA Guidance, Navigation, and Control Conf. and Exhibit , , 2002 . . p.1 - - 8 . . DOI: 10.2514/6.2002-4963 http://doi.org/10.2514/6.2002-4963 . .

J. Seo , , , C. Ahn , , , Y. Kim . . Controller design for UAV formation flight using consensus based decentralized approach . . Proc. AIAA Infotech@Aerospace Conf. , , 2009 . . p.1 - - 11 . . DOI: 10.2514/6.2009-1826 http://doi.org/10.2514/6.2009-1826 . .

J. Shan , , , H. Liu . . Close-formation flight control with motion synchronization . . J. Guid. Contr. Dynam. , , 2005 . . 28 ( ( 6 ): ): 1316 - - 1320 . . DOI: 10.2514/1.13953 http://doi.org/10.2514/1.13953 . .

Z.K. Shi . . Linear System Theory , , : : Beijing Science Press , , 2008 . . .

J. Wang , , , R. Wei , , , Z. Dong , , , 等 . . Research on formation flight control of cooperative UAV . . Fire Contr. Command Contr. , , 2010 . . 35 ( ( 3 ): ): 34 - - 38 . . . .

X.Y. Wang , , , X.M. Wang , , , Y.H. Xiao , , , 等 . . Design of robust H ∞ controller for UAVs three-dimensional formation flight . . Contr. Dec. , , 2012 . . 27 ( ( 12 ): ): 1907 - - 1911 . . DOI: 10.13195/j.cd.2012.12.150.wangxy.004 http://doi.org/10.13195/j.cd.2012.12.150.wangxy.004 . .

Y.H. Xiao , , , X.M. Wang , , , X.Y. Wang . . An effective controller design of formation flight of unmanned aerial vehicles (UAV) . . J. Northwestern Polytech. Univ. , , 2011 . . 29 ( ( 6 ): ): 834 - - 838 . . . .

浏览量

118

Downloads

CSCD

文章被引用时，请邮件提醒。

Submit

工具集

关联资源

Impact of distance between two hubs on the network coherence of tree networks

Bipartite asynchronous impulsive tracking consensus for multi-agent systems

Robust distributed model predictive consensus of discrete-time multi-agent systems: a self-triggered approach

Energy-efficient trajectory planning for a multi-UAV-assisted mobile edge computing system

Coherence analysis and Laplacian energy of recursive trees with controlled initial states