摘要
近年来,无人机的集群控制越来越受到研究人员的重视,本文分析了无人机的数学模型,采用了双闭环PD算法设计主从双机无人机集群控制算法,由于双闭环PD系统的良好的鲁棒性,克服了无人机的欠驱动特性,在仿真过程中,发现对于位置和姿态的控制有着良好的稳定性和动态特性。
In recent years, the cluster control of UAVs has received more and more attention from researchers.This paper analyzes the mathematical model of UAVs and adopts the double closed-loop PD algorithm to design the master-slave UAV cluster control algorithm.The good robustness of the double closed-loop PD system overcomes the under-driving characteristics of the drone.During the simulation, it is found that the position and attitude control has good stability and dynamic characteristics.
作者
张鸣阳
章凡
尹浩霖
ZHANG Ming-yang, ZHANG Fan ,YIN Hao-lin(Tianjin University of Technology, Tianjin 300380, Chin)
出处
《科技视界》
2018年第16期121-122,共2页
Science & Technology Vision
基金
天津市大学生创新创业训练计划项目
关键词
集群智能
无人机
算法
Cluster intelligence
Drone
Algorithm
