垂直起降飞行器的自适应集群编队飞行控制

Adaptive formation control of multiple vertical takeoff and landing UAVs

本文针对垂直起降飞行器集群编队飞行控制问题开展研究.集群中的飞行器具有异构性质,即它们具有不同的惯性参数,并且每个飞行器对其自身的惯性参数也并未确切已知.另外,飞行器间的信息交互是局部的,每个飞行器仅与其邻近飞行器进行信息交互.为解决上述问题,本文基于级联架构,设计了一种自适应分布式控制算法.首先,在位置回路中设计一个分布式指令控制力,实现集群编队目标;接着,从设计出的指令控制力中提取出控制推力和指令姿态;最后,在姿态回路中设计一个控制力矩,实现姿态对指令姿态的跟踪.此外,在指令控制力和控制力矩设计过程中,提出合适的自适应算法对飞行器惯性参数进行估计.通过使用李雅普诺夫理论分析可知,所提出的自适应分布式控制算法确保了垂直起降飞行器渐进稳定的集群编队飞行.仿真结果进一步验证了所提算法的有效性.

This paper investigates the formation issue of multiple vertical takeoff and landing(VTOL)unmanned aerial vehicles(UAVs)subject to heterogeneous and unavailable inertial parameters.The information interaction among the UAVs is local such that each UAV can just interact with its adjacent UAVs.Based on a hierarchical framework,an adaptive distributed control algorithm is proposed.In particular,a distributed command control is first developed in the position loop to achieve the formation objective.Then,an applied force and a command attitude are extracted from the command control.Finally,an applied force is designed in the attitude loop for the tracking to the command attitude.It is shown in terms of Lyapunov theory that,by implementing the proposed adaptive distributed control algorithm,the VTOL UAVs are capable of accomplishing the formation objective asymptotically.Simulations further validate the effectiveness of the proposed control algorithm.