多无人机完全分布式有限时间编队控制

Fully distributed finite-time formation control for multiple UAVs

针对分布式通信网络,研究多无人机完全分布式编队生成和保持控制问题.基于滑模和自适应方法设计自适应耦合增益,进而结合与邻居无人机之间的相对状态设计一种新的有限时间编队控制器.该算法去掉了传统编队控制器依赖通信网络范围和拓扑及Leader无人机状态等全局信息的限制,基于Lyapunov理论证明无人机编队误差在有限时间可以收敛到边界可调的邻域内.对三维运动的多无人机编队进行仿真验证,结果显示,所设计的编队控制算法可以实现多无人机有限时间完全分布式编队生成和保持.

Considering the distributed communication network, the fully distributed formation building and keeping control problems for multiple unmanned aerial vehicles(UAVs) are studied. Adaptive coupling gains are designed based on sliding mode and adaptive methods, and then a novel finite-time formation controller is designed according to the relative state between neighbor UAVs and coupling gains. The proposed algorithm removes the limitation of global information, such as the range and topology of the communication network and the state of the Leader UAV. Based on the Lyapunov theory, the formation errors can converge to a small boundary adjustable neighborhood. Simulation of the three dimensional motion for multiple UAVs formation is conducted. The results show that the proposed algorithm can achieve the finite time fully distributed formation forming and keeping of UAVs.