结合速度观测器和方向信息的无人机编队控制

Integration of velocity observers and direction information for UAVs formation control

针对现阶段基于方向信息的编队跟踪控制方法需要提前预知系统期望速度的问题,提出了基于分布式速度观测器的无人机群编队控制策略。通过速度观测器和基于方向信息的编队控制器的结合,解决了部分无人机在编队过程中无法直接获取速度信息的问题。系统的编队采用了领导者-跟随者结构,通过改变领导者的相对位置来完成缩放任务。控制器的设计引入了旋转矩阵来实现编队系统的旋转任务,然后通过Lyapunov方法证明了控制器的稳定性。最后通过仿真软件的缩放和旋转试验证明了控制策略的有效性。

Addressing the issue of current bearing-based formation tracking control methods requiring prior knowledge of the desired system velocity,the unmanned aerial vehicles(UAVs)formation control strategy based on distributed velocity observers is proposed.By combining velocity observers with bearing-based formation controllers,the problem of certain drones being unable to directly obtain velocity information during the formation process is resolved.The formation of the system employs a leader-follower structure,where scaling tasks are accomplished by altering the relative position of the leader.The design of the controller introduces a rotation matrix to achieve rotation tasks for the formation system.The stability of the controller is then proven using the Lyapunov method.Finally,the effectiveness of the control strategy is demonstrated through scaling and rotation simulation experiments by using a simulaiton software.