基于Leader-Follower的多无人机编队轨迹跟踪设计

doi:10.7527/S1000-6893.2019.23758

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基于Leader-Follower的多无人机编队轨迹跟踪设计

王晶, 顾维博, 窦立亚

北京化工大学信息科学与技术学院, 北京 100013

收稿日期:2019-12-13 修回日期:2019-12-25 出版日期:2020-06-30 发布日期:2019-12-26
通讯作者: 窦立亚 E-mail:liyadou@mail.buct.edu.cn
基金资助:
国家自然科学基金（61973023，61573050）；北京市自然科学基金（4202052）；中央高校基本科研业务费专项基金（XK1802-4）

Leader-Follower formation control of multiple UAVs with trajectory tracking design

WANG Jing, GU Weibo, DOU Liya

School of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100013, China

Received:2019-12-13 Revised:2019-12-25 Online:2020-06-30 Published:2019-12-26
Supported by:
National Natural Science Foundation of China(61973023,61573050); Beijing Natural Science Foundation (4202052);the Fundamental Research Funds for the Central Universities(XK1802-4)

摘要/Abstract

摘要： 针对四旋翼无人机（UAV）群在轨迹跟踪过程中易受外界干扰而引起跟踪误差的问题，设计了基于Leader-Follower的多无人机协同编队轨迹跟踪控制方法。在该系统中，首先通过积分反步法（IBS）对所建四旋翼飞行器模型设计Leader无人机的轨迹跟踪控制器。其次设计了滑模控制（SMC）器，以控制Leader与Follower无人机实现期望的编队队形并同时跟踪参考轨迹。然后通过数值仿真验证了算法的有效性，仿真结果表明，系统具有良好的控制精度。最后通过视觉定位系统进行实验，结果表明所设计的控制器能够实现多个无人机轨迹跟踪和编队控制，所设计的算法具有可行性。

关键词: 积分反步法, 滑模控制器, 轨迹跟踪, 编队控制, 飞行实验

Abstract: Leader-follower formation control of multiple Unmanned Aerial Vehicle (UAVs) is studied to solve the tracking error caused by the unknown disturbance on the quadrotor UAV group. In this system, firstly, the trajectory tracking controller of the leader UAV is designed by Integral BackStepping (IBS) on the established quadrotor aircraft model. Secondly, a formation control law based on Sliding Mode Control (SMC) is designed to drive the leader and follower UAVs to the desired formation while tracking the reference trajectory. Then the effectiveness of the designed control algorithms is verified by numerical simulations. The simulation results show that the system has good control accuracy. Finally, a experiment of the designed controllers is carried out on Parrot Bebop 2 quadrotor UAVs through the visual positioning system. The experimental results show that the designed controller can achieve the desired tracking and formation of multiple UAVs, verifying the feasibility of the designed controllers.

Key words: integral backstepping, sliding mode controller, trajectory tracking, formation control, flight experiment

中图分类号:

王晶, 顾维博, 窦立亚. 基于Leader-Follower的多无人机编队轨迹跟踪设计[J]. 航空学报, 2020, 41(S1): 723758-723758.

WANG Jing, GU Weibo, DOU Liya. Leader-Follower formation control of multiple UAVs with trajectory tracking design[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723758-723758.

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E-mail：hkxb@buaa.edu.cn

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基于Leader-Follower的多无人机编队轨迹跟踪设计

Leader-Follower formation control of multiple UAVs with trajectory tracking design

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