基于方向信息的无人机群编队控制算法

Formation Control of UAV Swarm with Bearing-Only Measurements

针对无人机群的速度跟踪编队控制设计了基于方向信息的控制策略,其中无人机的控制器设计只依赖于临近无人机的相对方向,从而可以应用于无人机群通信受阻的情况。通过设计基于方向信息的比例积分控制器完成了无人机群编队系统的速度跟踪问题,控制器的稳定性分析采用了基本Lyapunov函数的方法,与基于优化策略和持续激励方法相比更利于控制策略扩展应用到更加复杂的情形中。最后,分别通过定点和速度跟踪编队控制仿真实验,验证了控制方法的有效性。

In this paper,a control strategy based on bearing-only measurements is designed for the velocity-tracking formation control of an unmanned aerial vehicle(UAV)swarm.The controller design of UAVs only depends on the relative bearing of an adjacent UAV,which can be applied to a situation where the communication of the UAV swarm is blocked.The velocity tracking of the UAV swarm formation system is achieved by the design of the proportional integral controller based on bearing-only measurements.The stability of the controller is analyzed by the basic Lyapunov function,which is more conducive to the extension and application of the control strategy to more complex situations than the method based on the optimization strategy and continuous excitation.Finally,the effectiveness of the proposed control method is verified by fixed and velocity-tracking formation control simulations.