多飞行器动态目标追踪协同控制研究

A cooperative control for multiple aerial vehicles tracking a moving target

多飞行器追踪动态目标是一个协同控制问题,需要根据目标飞行状态,协同各个追踪飞行器的飞行状态,最终能够在某动态的最佳点实现同时到达。考虑到目标具有较强的机动性,轨迹通常为非线性的,设计了一种基于非线性轨迹预测的、以剩余时间为控制变量的一致性控制方案。仿真结果表明,提出的控制方案能够实现空间位置相距较远的多飞行器动态追踪,具有较好的灵活性和收敛性,目标轨迹的预测结果与实际轨迹误差较小,恰当的轨迹估计有助于缩短追踪时间,提高追踪效率。

It is a cooperative control issue for multiple aerial vehicles tracking a moving target,which needs to adapt every trackers’ regime of flight for a simultaneous arrival at a designed location based on the aim’s regime of flight. As the aim has a better flexibility and non-linear path,in this article,the remaining time being a controlled variable,it makes a plan for dynamic tracking based on predicting the trajectory. Simulation results show that the plan works well on tracking and realizing simultaneous arrival for multiple aerial vehicles which are far from each other,and it has excellent flexibility and convergence. There are small errors between the predicted trajectory and actual path. An appropriate forecasted path will help to reduce the pursuit time,so it is more efficient.