一种考虑最优收敛时间的多无人机编队控制方法

A Multi⁃UAVs Formation Control Method Due to Considering Optimal Convergence Time

针对多无人机编队过程中的收敛时间问题,提出了一种基于最优控制和粒子群优化算法的一致性编队控制方法。将无人机机动约束和一致性编队控制算法结合,实现了无人机在约束条件下的编队控制。基于人工势场思想,设计了一种具有机间避碰能力的一致性编队控制方法,解决了无人机之间的碰撞问题。通过最优一致性控制和粒子群优化算法优化一致性编队控制方法,在考虑机间避碰的情况下,使整个编队的收敛时间降低1.2 s,整体收敛性能提升6.28%。仿真结果表明该方法能够缩短多无人机的编队收敛时间。

Aiming at the problem of convergence time in multi⁃UAVs formation,a consensus formation con⁃trol method based on optimal control and particle swarm optimization algorithm is proposed.The formation control for UAVs under constraints is realized by combining UAVs maneuver constraints with consensus for⁃mation control algorithm.Based on the idea of artificial potential field,a consensus formation control method with collision avoidance ability is designed to solve the collision problem among UAVs.The optimal consensus control and particle swarm optimization algorithm are used to optimize the consensus formation control method.Due to considering the collision avoidance among UAVs,the convergence time of the whole formation is reduced by 1.2 s,and the overall convergence performance is improved by 6.28%.The simu⁃lation results show that the formation convergence time of multi⁃UAVs can be shorten by using this method.