航空学报 > 2023, Vol. 44 Issue (S2): 729917-729917   doi: 10.7527/S1000-6893.2023.29917

分布式自适应事件触发四旋翼无人机编队控制

郭洪振1, 陈谋1(), 戴永东2, 王茂飞2   

  1. 1.南京航空航天大学 自动化学院,南京 211106
    2.国网泰州供电公司,泰州 225300
  • 收稿日期:2023-11-28 修回日期:2023-12-01 接受日期:2023-12-06 出版日期:2023-12-22 发布日期:2023-12-21
  • 通讯作者: 陈谋 E-mail:chenmou@nuaa.edu.cn
  • 基金资助:
    国家重点研发计划(2023YFB4704400);国家自然科学基金(U2013201);江苏省科技计划专项资金(BZ2023057)

Distributed adaptive event⁃triggered formation control for QUAVs

Hongzhen GUO1, Mou CHEN1(), Yongdong DAI2, Maofei WANG2   

  1. 1.College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China
    2.State Grid Taizhou Power Supply Company,Taizhou 225300,China
  • Received:2023-11-28 Revised:2023-12-01 Accepted:2023-12-06 Online:2023-12-22 Published:2023-12-21
  • Contact: Mou CHEN E-mail:chenmou@nuaa.edu.cn
  • Supported by:
    National Key Research and Development Program of China(2023YFB4704400);National Natural Science Foundation of China(U2013201);Jiangsu Province Special Funds for Science and Technology(BZ2023057)

摘要:

针对存在未知外部干扰与计算资源受限的四旋翼无人机编队系统,提出了一种分布式自适应事件触发编队控制方法。首先,使用参数自适应方法来处理未知外部干扰对编队系统造成的不利影响,且参数自适应律仅在事件触发时刻更新,从而降低计算量。其次,基于参数自适应方法与事件触发机制设计分布式编队控制器。此外,通过李雅普诺夫方法证明了闭环系统内所有信号的有界性。最后,通过室内实际飞行试验验证了所提算法的有效性与可靠性。

关键词: 分布式编队控制, 事件触发, 四旋翼无人机, 参数自适应, 李雅普诺夫方法

Abstract:

In this paper, a distributed adaptive event-triggered formation control method is proposed for Quadrotor Unmanned Aerial Vehicles (QUAVs) with unknown external disturbances and limited computational resources. Firstly, the parameter adaptive method is used to deal with the adverse effects of unknown external disturbances, and the parameter updating law is updated only at event-triggered instants to further reduce the computational cost. Then, the distributed formation controller is developed based on the parameter adaptive method and the event-triggered mechanism. Moreover, the uniformly ultimately bounded stability of the control system is accomplished by the Lyapunov theorem. Finally, flight experiments are implemented to verify the effectiveness and reliability of the proposed control method.

Key words: distributed formation control, event-trigger, Quadrotor Unmanned Aerial Vehicle (QUAV), parameter adaptive method, Lyapunov method

中图分类号: