基于收缩理论的多无人机姿态自适应同步控制

Multi-UAV Attitude Adaptive Synchronization Control Based on Contraction Theory

针对无人机(UAV)模型参数不确定的情况,研究了集成姿态同步和轨迹跟踪问题于统一框架内的控制方法.在无人机拉格朗日动力学模型中,使用收缩理论进行精确的非线性稳定性证明,将多无人机姿态全局指数同步并收敛到共同的时变轨迹中.在外部干扰影响下,分别对模型参数已知与不确定情形下进行了仿真实验,表明了所提出方法的鲁棒性,并验证了姿态同步快于轨迹跟踪速度的收缩特性.

We analyze the control methods for integrated attitude synchronization and trajectory tracking in a unified framework with uncertain UAV model parameters.The stability analysis of the multi-UAV Lagrangian dynamic model based on the contraction theory indicates that the global index is synchronized and converges to a common time-varying trajectory.Under the influence of external disturbance,we complete the simulation of the model with certain and uncertain parameters,which shows the robustness of the proposed method.The contraction characteristics indicate that the attitude synchronization velocity is faster than the trajectory tracking velocity.