无人机集群的微分平坦性与编队控制研究

Differential Flatness and Formation Control of Unmanned Aerial Vehicle Swarm

本文研究了无人机集群的微分平坦性,给出了相对运动的微分平坦映射,并以此为基础设计了分布式编队控制器.运动规划方面,通过求解受约束的优化问题,实时生成期望编队轨迹和编队构型.运动控制方面,采用微分平坦映射将运动指令映射为每架无人机的期望状态和控制输入,而后利用局部误差反馈设计分布式编队控制器跟踪期望运动轨迹.针对群体运动的稳定性问题,本文运用李雅普诺夫稳定性理论证明了闭环系统的稳定性,给出了控制参数的选取条件.最后仿真验证了编队控制方法在未知环境下的运动控制效果.

The article investigates the differential flatness of a swarm of unmanned aerial vehicles(UAVs),provides the differential flatness mapping for relative motion,and uses this as a foundation to design a distributed formation controller.In terms of motion planning,it generates real-time desired formation trajectories and configurations by solving constrained optimization problems.In terms of motion control,it utilizes the differential flatness mapping to map motion commands into desired states and control inputs for each UAV.Subsequently,it designs a distributed formation controller based on local error feedback to track the desired motion trajectories.To address the stability of collective motion,this article employs Lyapunov stability theory to prove the stability of the closed-loop system and provides conditions for selecting control parameters.Finally,simulations validate the effectiveness of the formation control method in an unknown obstacle environment.