基于扰动观测器的无人机固定时间编队协同控制

Coordinated Control of Fixed-Time UAV Formation Based on Disturbance Observer

针对无人机的编队控制问题,基于虚拟领航者编队方法,提出了1种基于固定时间超螺旋干扰观测器的反步控制策略。首先,设计了1种固定时间超螺旋扰动观测器,以保证在固定时间内,对无人机编队机动所受扰动的快速观测;其次,针对编队控制问题,设计了基于超螺旋扰动观测器的反步控制策略,该控制器显著降低了抖振效应;然后,使用李雅普诺夫理论和固定时间理论,分析了控制策略的固定时间稳定性;最后,通过仿真算例验证了所提出的控制策略的有效性与可行性。

For the formation control of unmanned aerial vehicles(UAVs),a backstepping control strategy based on fixedtime super twisting disturbance observer is proposed under the virtual leader formation method.Firstly,a fixed-time super twisting disturbance observer is designed to ensure fast observation of the disturbance of UAV formation maneuver in a fixed time.Secondly,for the formation control problem,a backstepping control strategy based on the super twisting disturbance observer is designed,which reduces the chattering effect significantly.Then,the fixed-time stability of the control strategy is analyzed by Lyapunov theory and fixed-time theory.Finally,a simulation example is given to verify the effectiveness and feasibility of the proposed control strategy.