基于鲁棒控制理论的轨迹规划方案

Trajectory Planning Using Robust Control Theory

为了在大流量、高密度和小间隔条件下获取多航空器鲁棒无冲突轨迹,针对不同的航路空间分布结构,通过将单架航空器视为一个批次以及引入缓冲时间参数,基于航路冲突点保护区竞争机制,在极大代数框架下根据管制间隔约束构建了单航段和多航段航空器流控制模型,建立了模型输入变量、状态变量和输出变量之间的约束关系。从各类子模型的空间逻辑结构出发,进一步构建了空域多航空器极大代数耦合模型。基于不同的调配目标,设定了多类鲁棒优化指标函数,采用调整航空器到达航段入口时刻和在航段上运行速度两种策略,提出了多航空器轨迹规划鲁棒优化模型。算例分析表明,本文所提出的规划模型可行有效。

For the multiple aircraft strategic trajectory planning under the conditions of great traffic flow, high density and small separation, the single-segment and multi-segment traffic flow control models are proposed by applying the air traffic control separation constraints under the framework of max-plus theory. Regarding the single aircraft as a batch, the relationship among input variable, state variable and output variable is established with buffer time parameter based on the air route conflict point competi- tion mechanism as well as the space layout structure. From the spatial logic structure of various submodels, the airspace multi-aircraft max-algebra coupled model and the robust optimization model are proposed. Moreover, the trajectory robust optimization model is formulated based on the proposed multiple optimization objective functions by adjusting the time of aircraft arrival and departure. Finally, the simulation shows the feasibility of the robust optimization model.