面向狭窄通道穿越的多机编队安全鲁棒控制

Robust safe control for multi-UAV formation flight through narrow corridors

在多机编队穿越狭窄通道的任务场景下,无人机会受到地面效应和机间风扰等外部干扰因素的影响,使得无人机存在失控、坠毁等安全隐患。针对此问题,本文同时考虑上层编队规划以及底层控制的安全与鲁棒需求,提出一种基于矢量场和不确定性干扰估计器(UDE)的安全鲁棒控制算法,确保无人机编队安全穿越狭窄通道。首先,定义基于虚拟结构的无人机编队构型,通过构建矢量场使得编队产生收缩的效果以适应狭窄通道尺寸,避免与通道产生碰撞。其次,考虑狭窄空间约束及机间距离缩小造成的地面效应与机间风扰等不确定干扰的影响,设计基于UDE的底层控制器,实现对不确定干扰的估计和补偿,提高无人机编队飞行的稳定性和鲁棒性。最后,在仿真平台上验证所提出的场景和算法,对无人机编队在不同宽度狭窄通道下的性能进行评估。

When multi-UAV formation flies through narrow corridors,UAVs will be influenced by external disturbances such as ground effect and downwash to result in out of control and crash of the vehicles and other security risks.To solve this problem,a safe and robust algorithm based on the vector field and the Uncertainty and Disturbance Estimator(UDE)is proposed by considering upper-formation planning and low-level control simultaneously.At the formation planning level,a vector field-based formation control method is designed to ensure collision avoidance.Meanwhile,due to the space constraint and smaller distance between UAVs,UAVs are more severely affected by ground effect,downwash between UAVs and other wind disturbances during the passage.These external disturbances lead to safety risks such as loss of control and crashes.To address this issue,an Uncertainty and Disturbance Estimator-based(UDE-based)controller is designed to improve the stability and robustness of UAVs’low-level control.Finally,the proposed algorithms are verified on the simulation platform,and the performance of the UAVs formation in different sizes of narrow corridors is evaluated.