无人机仿射编队跟踪控制研究

李慧铭; 陈浩; 王祥科

doi:10.1631/FITEE.2100109

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无人机仿射编队跟踪控制研究

常规文章 | Updated：2022-07-11

- 无人机仿射编队跟踪控制研究
- Affine formation tracking control of unmanned aerial vehicles
- 信息与电子工程前沿（英文） 2022年23卷第6期页码：909-919
- Affiliations：
  
  College of Intelligence Science and Technology, National University of Defense Technology, Changsha410073, China
- Author bio：
  
  E-mail: huiminglhm@163.com;
  E-mail: chenhao09@nudt.edu.cn;
  ‡Corresponding author
- Funds：
  
  National Natural Science Foundation of China(61973309);Research Project of National University of Defense Technology, China(ZK21-05);Hunan Provincial Natural Science Foundation of China(2021JJ10053)
- DOI：10.1631/FITEE.2100109
  中图分类号： TP273
- 收稿：2021-02-28，
  
  录用：2021-08-24，
  
  网络出版：2022-03-29，
  
  纸质出版：2022-06-0
- Accepted：
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李慧铭, 陈浩, 王祥科. 无人机仿射编队跟踪控制研究[J]. 信息与电子工程前沿（英文）, 2022,23(6):909-919.

Huiming LI, Hao CHEN, Xiangke WANG. Affine formation tracking control of unmanned aerial vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(6): 909-919.
李慧铭, 陈浩, 王祥科. 无人机仿射编队跟踪控制研究[J]. 信息与电子工程前沿（英文）, 2022,23(6):909-919. DOI： 10.1631/FITEE.2100109.

Huiming LI, Hao CHEN, Xiangke WANG. Affine formation tracking control of unmanned aerial vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(6): 909-919. DOI： 10.1631/FITEE.2100109.

摘要

本文聚焦固定翼无人机集群仿射编队跟踪控制问题，其中固定翼无人机被建模为具有非对称速度约束的独轮车。无人机集群控制目标是生成并跟踪一个由名义编队仿射变换得到的时变目标编队。针对这一目标，在领航跟随者编队控制框架下，提出一种基于应力矩阵的分布式编队控制策略，并从理论上证明，跟随者在跟踪不同飞行轨迹的同时，能够收敛到由领航者位置决定的期望位置，实现编队队形的仿射变换。进一步，为满足固定翼无人机飞行速度约束，提出一种基于饱和函数的控制策略。数值仿真结果证实，所提仿射编队控制策略能有效提高机动性。

Abstract

The affine formation tracking problem for fixed-wing unmanned aerial vehicles (UAVs) is considered in this paper

where fixed-wing UAVs are modeled as unicycle-type agents with asymmetrical speed constraints. A group of UAVs are required to generate and track a time-varying target formation obtained by affinely transforming a nominal formation. To handle this problem

a distributed control law based on stress matrix is proposed under the leader-follower control scheme. It is proved

theoretically

that followers can converge to the desired positions and achieve affine transformations while tracking diverse trajectories. Furthermore

a saturated control strategy is proposed to meet the speed constraints of fixed-wing UAVs

and numerical simulations are executed to verify the effectiveness of our proposed affine formation tracking control strategy in improving maneuverability.

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references

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