基于鲁棒H∞控制的多机协同编队

Coordinated Formation for Multiple UAVs Based on Robust H∞Control

针对环境风干扰情况下无人机编队保持精度差的问题,设计了基于邻居无人机相对状态的编队控制协议。通过定义恰当的被控输出来量化环境风干扰对多机编队的影响,将受扰多机编队控制问题转化为鲁棒H∞控制问题。基于H∞控制方法,得到了满足期望H∞干扰抑制指标的多机编队充分条件,并以线性矩阵不等式的形式给出。此外,对于僚机之间的通信拓扑为无向图的情形,可以通过只求解2个线性矩阵不等式确定控制协议。最后数值仿真结果表明,该控制协议能够有效抑制阵风干扰对多机编队的影响,提高了多机协同编队的鲁棒性。

Considering the coordinated formation control problem for multiple UAVs subject to wind disturbances,a formation control protocol is proposed using the relative states among neighboring UAVs.The formation problem under the proposed protocol is then converted into an H∞control problem by defining an appropriate controlled output function,which analyses quantitatively the effect of wind disturbances on the formation control.Based on robust H∞control approach,sufficient conditions in terms of LMIs are derived to ensure the expected formation with the prescribed H∞performance.Moreover,the unknown feedback gains of the proposed protocol are determined by solving only two LMIs when the topology among the follower UAVs is undirected.Finally,a numerical example is provided to demonstrate the effectiveness of the proposed theoretical results.Numerical simulation results show that the control protocol can effectively suppress the influence of gust interference on multiple UAVs formation and improve the robustness of multiple UAVs cooperative formation.