无人机-无人车异构时变编队控制与扰动抑制

doi:10.7527/S1000-6893.2019.23767

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

无人机-无人车异构时变编队控制与扰动抑制

周思全^1,2, 董希旺^1,2,3, 李清东^1,2, 任章^1,2,3

1. 北京航空航天大学自动化科学与电气工程学院, 北京 100083;
2. 北京航空航天大学飞行器控制一体化技术国防科技重点实验室, 北京 100083;
3. 北京航空航天大学大数据科学与脑机智能高精尖创新中心, 北京 100083

收稿日期:2019-12-13 修回日期:2019-12-26 出版日期:2020-06-30 发布日期:2020-01-10
通讯作者: 董希旺 E-mail:xwdong@buaa.edu.cn
基金资助:
国家自然科学基金（61922008，61973013，61873011，61803014）；国防创新特区项目（18-163-00-TS-001-001-34）

Time-varying formation control and disturbance rejection for UAV-UGV heterogeneous swarm system

ZHOU Siquan^1,2, DONG Xiwang^1,2,3, LI Qingdong^1,2, REN Zhang^1,2,3

1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China;
2. Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100083, China;
3. Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing 100083, China

Received:2019-12-13 Revised:2019-12-26 Online:2020-06-30 Published:2020-01-10
Supported by:
National Natural Science Foundation of China (61922008,61973013,61873011, 61803014); National Defense Innovation Special Zone Project (18-163-00-TS-001-001-34)

摘要/Abstract

摘要： 研究了无人机-无人车异构系统时变输出编队控制与扰动抑制问题，要求多无人机与无人车在受到未知外部扰动的情况下，保持设计的输出时变编队构型。首先，对无人机与无人车进行单体运动学与动力学建模，同时建立扰动模型，并引入代数图论概念，建立异构集群系统的协同控制模型。然后，对各无人机-无人车设计了具有分层架构的分布式时变输出编队控制器，包含基于一致性理论的编队中心估计项和基于内模原理的扰动抑制补偿项。进一步分析异构系统实现输出时变编队的可行性条件，给出了分布式编队控制器的参数选取算法，并证明了时变编队控制器构成的闭环系统的稳定性。最后，通过仿真算例来验证所设计的编队控制器的有效性。

关键词: 无人机-无人车, 异构系统, 分布式控制, 时变输出编队, 扰动抑制

Abstract: This paper studies the time-varying formation control and disturbance rejection problems for heterogeneous UAV-UGV swarm system. The UAV-UGV swarm system is designed to achieve the desired time-varying output formation under unknown external disturbances. First, the kinetic and dynamic mathematical models of each UAV/UGV are established. In addition, the cooperative control models for heterogeneous swarm system are constructed by using the algebraic graph theory. Then, a distributed time-varying output formation controller is designed based on the internal model theory. The distributed formation center estimator and disturbance rejection compensator are designed and added to the formation controller. Third, an algorithm is presented to design the formation control parameters, where the feasibility conditions for achieving the time-varying output formation are given. The stability of the closed-loop UAV-UGV swarm system is proved. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed formation control approach.

Key words: UAV-UGV, heterogeneous system, distributed control, time-varying output formation, disturbance rejection

中图分类号:

V279
TJ765

周思全, 董希旺, 李清东, 任章. 无人机-无人车异构时变编队控制与扰动抑制[J]. 航空学报, 2020, 41(S1): 723767-723767.

ZHOU Siquan, DONG Xiwang, LI Qingdong, REN Zhang. Time-varying formation control and disturbance rejection for UAV-UGV heterogeneous swarm system[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723767-723767.

参考文献 29

[1]	YU J L, DONG X W, LI Q D, et al. Distributed cooperative encirclement hunting guidance for multiple flight vehicles system[J]. Aerospace Science and Technology, 2019, 95:105475.
[2]	ZHAO Q L, DONG X W, LIANG Z X, et al. Distributed cooperative guidance for multiple missiles with fixed and switching communication topologies[J]. Chinese Journal of Aeronautics, 2017, 30(4):1570-1581.
[3]	赵启伦,陈建,董希旺,等. 拦截高超声速目标的异类导弹协同制导律[J]. 航空学报,2016,37(3):936-948. ZHAO Q L, CHEN J, DONG X W, et al. Cooperative guidance law for heterogeneous missiles intercepting hypersonic weapon[J]. Acta Aeronautica et Astronautica Sinica, 2016, 37(3):936-948(in Chinese).
[4]	HUA Y Z, DONG X W, WANG J B, et al. Time-varying output formation tracking of heterogeneous linear multi-agent systems with multiple leaders and switching topologies[J]. Journal of the Franklin Institute, 2019, 356(1):539-560.
[5]	HUA Y Z, DONG X W, HU G Q, et al. Distributed time-varying output formation tracking for heterogeneous linear multi-agent systems with a nonautonomous leader of unknown input[J/OL]. IEEE Transactions on Automatic Control, 2019(in press).
[6]	DUAN H B, ZHANG Y P, LIU S Q. Multiple UAVs/UGVs heterogeneous coordinated technique based on receding horizon control (RHC) and velocity vector control[J]. Science China Technological Sciences, 2011, 54(4):869-876.
[7]	WANG X L. Distributed formation output regulation of switching heterogeneous multi-agent systems[J]. International Journal of Systems Science, 2013, 44(11):2004-2014.
[8]	LIU X K, WANG Y W, XIAO J W, et al. Distributed hierarchical control design of coupled heterogeneous linear systems under switching networks[J]. International Journal of Robust and Nonlinear Control, 2017, 27(8):1242-1259.
[9]	DONG X W, HU G Q. Time-varying formation tracking for linear multi-agent systems with multiple leaders[J]. IEEE Transactions on Automatic Control, 2017, 62(7):3658-3664.
[10]	HUA Y Z, DONG X W, LI Q D, et al. Distributed time-varying formation robust tracking for general linear multiagent systems with parameter uncertainties and external disturbance[J]. IEEE Transactions on Cybernetics, 2017, 47(8):1959-1969.
[11]	DONG X W, ZHOU Y, REN Z, et al. Time-varying formation tracking for second-order multi-agent systems subjected to switching topologies with application to quadrotor formation flying[J]. IEEE Transactions on Industrial Electronics, 2017, 64(6):5014-5024.
[12]	DONG X W, HU G Q. Time-varying formation control for general linear multi-agent systems with switching directed topologies[J]. Automatica, 2016, 73:47-55.
[13]	DONG X W, LI Q D, ZHAO Q L, et al. Time-varying group formation analysis and design for general linear multi-agent systems with directed topologies[J]. International Journal of Robust and Nonlinear Control, 2017, 27(9):1640-1652.
[14]	DONG X W, HU G Q. Time-varying output formation for linear multiagent systems via dynamic output feedback control[J]. IEEE Transactions on Control of Network Systems, 2017, 4(2):236-245.
[15]	XIAO F, WANG L, CHEN J, et al. Finite-time formation control for multi-agent systems[J]. Automatica, 2009, 45(11):2605-2611.
[16]	LIU C L, TIAN Y P. Formation control of multi-agent systems with heterogeneous communication delays[J]. International Journal of Systems Science, 2009, 40(6):627-636.
[17]	ABDESSAMEUD A, TAYEBI A. Formation control of VTOL unmanned aerial vehicles with communication delays[J]. Automatica, 2011, 47(11):2383-2394.
[18]	DUAN H B, LI S H, LIN X Z. Finite-time formation control of multiagent systems via dynamic output feedback[J]. International Journal of Robust and Nonlinear Control, 2013, 23(14):1609-1628.
[19]	LIU Y F, GENG Z Y. Finite-time optimal formation control for second-order multiagent systems[J]. Asian Journal of Control, 2014, 16(1):138-148.
[20]	MENG D Y, JIA Y M, ZHANG J. On iterative learning algorithms for the formation control of nonlinear multi-agent systems[J]. Automatica, 2014, 50(1):291-295.
[21]	YU J L, DONG X W, LI Q D, et al. Practical time-varying formation tracking for second-order nonlinear multi-agent systems with multiple leaders using adaptive neural networks[J]. IEEE Transaction on Neural Networks and Learning Systems, 2018, 29(12):6015-6025.
[22]	HUA Y Z, DONG X W, LI Q D, et al. Distributed fault-tolerant time-varying formation control for high-order linear multi-agent systems with actuator failures[J]. ISA Transactions, 2017, 71:40-50.
[23]	DONG X W, SHI Z Y, LU G, et al. Time-varying output formation control for high-order linear time-invariant swarm systems[J]. Information Sciences, 2015, 298(20):36-52.
[24]	YU J L, DONG X W, LI Q D, et al. Practical time-varying output formation tracking for high-order multi-agent systems with collision avoidance, obstacle dodging and connectivity maintenance[J]. Journal of the Franklin Institute. 2019, 356(12):5898-5926.
[25]	BEARD R W, LAWTON J, HADAEGH F Y. A coordination architecture for spacecraft formation control[J]. IEEE Transactions on Control Systems Technology, 2001, 9(6):777-790.
[26]	REN W. Consensus strategies for cooperative control of vehicle formations[J]. IET Control Theory & Applications, 2007, 1(2):505-512.
[27]	郑大钟. 线性系统理论[M]. 2版. 北京:清华大学出版社,2002. ZHENG D Z. Linear system theory[M]. 2nd ed. Beijing:Tsinghua University Press, 2002(in Chinese).
[28]	HUANG J. Nonlinear output regulation:Theory and applications[M]. Philadelphia:SIAM, 2004.
[29]	周思全,化永朝,董希旺,等. 面向空地协同作战的无人机-无人车异构时变编队跟踪控制[J]. 航空兵器,2019,26(4):54-59. ZHOU S Q, HUA Y Z, DONG X W, et al. Air-ground time varying formation tracking control for heterogeneous UAV/UGV swarm system[J]. Aero Weaponry,2019,26(4):54-59(in Chinese).

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

无人机-无人车异构时变编队控制与扰动抑制

Time-varying formation control and disturbance rejection for UAV-UGV heterogeneous swarm system

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献 29

相关文章 13

编辑推荐

Metrics

本文评价

[1]	魏志强, 翁哲鸣, 化永朝, 董希旺, 任章. 切换拓扑下异构无人集群编队-合围跟踪控制[J]. 航空学报, 2023, 44(2): 326504-326504.
[2]	杨慧欣. 基于循环追踪控制的卫星编队构形调整控制律设计[J]. 航空学报, 2020, 41(S2): 724311-724311.
[3]	贾永楠, 田似营, 李擎. 无人机集群研究进展综述[J]. 航空学报, 2020, 41(S1): 723738-723738.
[4]	刘宇轩, 刘虎, 田永亮, 孙聪. 面向林火持续侦察的多无人机分布式控制方法[J]. 航空学报, 2020, 41(2): 323381-323381.
[5]	王恩美, 邬树楠, 王晓明, 吴志刚. 大型卫星太阳能帆板的分布式振动控制[J]. 航空学报, 2018, 39(1): 221479-221479.
[6]	王正玺, 张葆, 李贤涛, 张士涛, 马丙华. 航空光电稳定平台高性能摩擦力补偿方案[J]. 航空学报, 2017, 38(12): 321350-321350.
[7]	谢振伟, 郭迎清, 姜彩虹, 田飞龙, 李睿超. 变循环发动机完全分布式控制[J]. 航空学报, 2016, 37(6): 1809-1818.
[8]	陈军, 张新伟, 徐嘉, 高晓光. 有人/无人机混合编队有限干预式协同决策[J]. 航空学报, 2015, 36(11): 3652-3665.
[9]	董晨, 晁涛, 王松艳, 杨明. 考虑扰动及控制饱和的多约束末制导方法[J]. 航空学报, 2014, 35(8): 2225-2233.
[10]	高岱, 吕建婷, 王本利. 航天器有限时间输出反馈姿态控制[J]. 航空学报, 2012, 33(11): 2074-2081.
[11]	周稼康;胡庆雷;马广富;吕跃勇. 带时变通信时间延迟的卫星编队姿态协同自适应L₂增益控制[J]. 航空学报, 2011, 32(2): 321-329.
[12]	陆宇平;何真. 变体飞行器控制系统综述[J]. 航空学报, 2009, 30(10): 1906-1911.
[13]	龙涛;陈岩;沈林成. 基于合同机制的多UCAV分布式协同任务控制[J]. 航空学报, 2007, 28(2): 352-357.