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具有时延和干扰约束的多无人机滑模一致性编队控制研究 被引量：9

Research on Multi-UAVs′Sliding Mode Consensus FormationControl with Delay and Disturbance Constraints
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摘要 针对三维环境下的多无人机(UAVs)系统,在同时存在时延和干扰约束的情况下,提出了一种基于一致性的滑模编队控制算法,首先在考虑时延的基础上设计合适的一致性算法,其次利用滑模控制(SMC)方法解决编队系统中的轨迹跟踪和控制问题,并保证系统对于外部扰动的鲁棒性。仿真结果表明:在同时考虑编队过程中的时延和干扰约束的情况下,所提出的控制算法能够保持期望的编队队形。 A consensus-based sliding mode formation control algorithm for the multi-unmanned-aerial-vehicles′(multi-UAVs′)system with delay and disturbance constraints in three dimensional(3D)environment is presented.Firstly,a consensus algorithm is presented by considering the time delay.Secondly,the trajectory tracking and robustness of the formation system to the external disturbance is ensured by using the sliding mode controller(SMC).The effectiveness of the present algorithms is verified by the simulation results.
作者 闫党辉 章卫国 陈航 史静平 YAN Danghui;ZHANG Weiguo;CHEN Hang;SHI Jingping(School of Automation, Northwestern Polytechnical University, Xi′an 710072, China)
机构地区 西北工业大学自动化学院
出处 《西北工业大学学报》 EI CAS CSCD 北大核心 2020年第2期420-426,共7页 Journal of Northwestern Polytechnical University
基金 国家自然科学基金(61374032,61573286) 陕西省飞行控制与仿真技术重点实验室资助。
关键词 时延 干扰约束 多无人机 一致性编队 delay disturbance constraints multi-UAVs consensus formation
分类号 V249.1 [航空宇航科学与技术—飞行器设计] V448 [航空宇航科学与技术—飞行器设计]
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西北工业大学学报
2020年 第2期

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