巡检无人机编队轨迹跟踪控制研究

Research on trajectory tracking control of inspection UAV formation

针对单架无人机在多线电路巡检工程中效率低下的问题,提出一种巡检无人机编队控制巡检方法。针对编队过程中的饱和输入现象,采用领导者-跟随者控制算法进行无人机编队控制;在控制过程中将饱和考虑为干扰量,采用指数收敛观测器对饱和输入量进行估计;在姿态子系统控制中加入指数观测器来设计控制律,提升了编队系统的鲁棒性,最后通过李雅普诺夫稳定性分析判断系统最终达到渐近稳定。仿真结果表明了所提出控制算法的有效性。

Aiming at the low efficiency of a single UAV in the multi-line circuit inspection project, this paper proposed an inspection method to control the inspection UAV formation. For the saturation input phenomenon in the formation process, the leader-follower control algorithm was used to control the UAV formation;saturation was considered as a interference in the control process;exponentially converging observer was used to estimate the saturation input;the robustness of the formation system was improved by adding exponential observers to the attitude subsystem control to design the control law. Finally, the system was judged to be asymptotically stable by Liapunov stability analysis. The simulation results show the effectiveness of the proposed control algorithm.