多无人系统跟踪与编队的自主式预测控制算法

An Autonomous MPC Algorithm in Tracking and Formation of Multiple Unmanned Systems

针对多无人系统的跟踪与编队问题,考虑跟踪与编队控制目标存在不一致及不可实现的情况,综合目标规划与预测控制方法,设计了一种确保控制目标一致且可实现的自主式预测控制算法。首先根据给定的跟踪与编队控制目标,通过为各无人系统引入规划控制目标,对目标代价函数进行重新设计,解决跟踪与编队控制目标不一致问题;然后对引入的规划目标进行约束设计,保证其具有可实现性;其次为各无人系统设计预测控制终端约束集,进一步保证对规划控制目标的收敛性;最后对重新设计的目标代价函数与相关约束进行整合,为各人系统构造独立的控制优化问题,并给出相应的自主控制实施算法,将不一致、不可实现的跟踪与编队控制目标规划出一致、可实现的控制目标。针对为各无人系统所构造的控制优化问题,进一步将其描述为线性矩阵不等式形式,并通过MATLAB求解仿真,验证了所提出的自主预测控制算法的有效性。

Aimed at the problems that there are the inconsistency and unreality in tracking and formation control objectives of multiple unmanned systems,an autonomous predictive control algorithm is designed in guaranteeing the consistency and reality of control objectives.Firstly,according to the given tracking and formation control objectives,the cost function is redesigned for each unmanned system by introducing planned control objective,solving the inconsistency in tracking and formation control objectives.Then,some additional constraints of the introduced planned objective are designed to guarantee its reality,and further to achieve the convergence to planned control objective,the terminal constraint set is designed for each unmanned system under condition of predictive control framework.Finally,for each unmanned system,an individual control optimization problem is constructed through combining the redesigned cost function and all designed constraints,and an associated autonomous control algorithm is presented for implementation.With applying the presented algorithm by each unmanned system,a consistent and realizable control objective can be planned based on the given inconsistent and unrealizable tracking and formation control objectives,and can be achieved by the whole multiple unmanned systems.By introducing Linear Matrix Inequalities(LMI)technique,the constructed control optimization problem is casted into LMI form and can be solved through LMI toolbox of MATLAB.The simulation results in MATLAB show that the algorithm is valid.