面向多无人飞行器的有界跟踪控制方法的设计与验证

Design and verification of bounded tracking control method for multi-unmanned aerial vehicle

针对多无人机跟踪轨迹时的控制问题和安全问题,本文提出了一种四旋翼无人飞行器的有界跟踪控制方法.该方法能够保证多台无人机在进行轨迹跟踪的同时将自身运动限制在指定范围内.本文通过能量分析的方法设计了具体形式的控制器,并基于Lyapunov稳定性分析证明了系统误差的有界和收敛特性.在此基础上,通过设计和搭建室内多无人飞行器实验平台,完成了多无人飞行器实时轨迹跟踪的实验,验证了该控制器的实际性能.实验结论表明,无人飞行器的有界跟踪方法不但拥有良好的动态特性,而且能够有效地避免无人飞行器越过安全边界造成碰撞等问题,具有较好的安全性和鲁棒性.

Aiming at the control and safety problems in multi-unmanned aerial vehicle(UAV)trajectory tracking,this paper presents a bounded tracking control method for quadrotors.This method guarantees that vehicles limit their own movements within a specified range while performing trajectory tracking.In this paper,specific forms of controller are designed by means of energy analysis,and the boundedness and convergence characteristics of the system error are proved based on the Lyapunov stability analysis.On this basis,by designing and building an indoor multi-UAV experimental platform,an real-time trajectory tracking experiment of multi-UAV is carried out,and the performance of the controller is verified.The experimental results show that the proposed method not only has good dynamic characteristics,but also can effectively avoid the collision caused by UAVs crossing the safe boundary,which has better safety and robustness.