基于反步推演法的多机编队队形重构控制

张佳龙; 闫建国; 张普

doi:10.7527/S1000-6893.2019.23177

航空学报 >

2019 , Vol. 40 >Issue 11: 323177 - 323177

DOI: https://doi.org/10.7527/S1000-6893.2019.23177

电子电气工程与控制

基于反步推演法的多机编队队形重构控制

张佳龙 ,
闫建国 ,
张普

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西北工业大学自动化学院, 西安 710129

收稿日期: 2019-05-22

修回日期: 2019-06-26

网络出版日期: 2019-08-12

基金资助

西北工业大学博士论文创新基金（CX201955）

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Multi-UAV formation forming reconfiguration control based on back-stepping method

ZHANG Jialong ,
YAN Jianguo ,
ZHANG Pu

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School of Automation, Northwestern Polytechnical University, Xi'an 710129, China

Received date: 2019-05-22

Revised date: 2019-06-26

Online published: 2019-08-12

Supported by

Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University (CX201955)

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摘要

针对多无人机（UAV）集结期望的队形和达到稳态速度缓慢影响作战效率，基于反步推演法设计了一种协同导引控制律，用于解决多无人机快速队形重构和快速达到稳定状态。本文以一架虚拟长机为中心，3架僚机在3个顶点组成的三角形编队作为被控对象，且长机的速度方向作为编队的前行方向，僚机跟随长机编队飞行。采用长机导引机制，建立每架僚机的误差动力学模型；基于图论建立任意两架无人机之间的通讯模式，通过反步推演法得到多无人机编队队形保持的导引控制律。通过构建合理的Lyapunov函数，证明所提出的控制方法在编队集结和队形保持的有效性，同时将所提出的方法与模型预测控制（MPC）方法和拉普拉斯方法进行对比，更进一步验证所提方法有效性。仿真结果表明：每架无人机不仅能够按照期望的队形飞行，而且以动态响应快和稳态误差小收敛于虚拟长机的运动轨迹。

关键词： 无人机编队; 反步推演法; 协同引导控制律; 李雅普诺夫函数; 稳态误差

本文引用格式

张佳龙 , 闫建国 , 张普 . 基于反步推演法的多机编队队形重构控制[J]. 航空学报, 2019 , 40(11) : 323177 -323177 . DOI: 10.7527/S1000-6893.2019.23177

Abstract

Aiming at the slowed combat efficiency for desired forming and the steady-state speed of multi-UAV, a cooperative guidance control method is designed based on the back-stepping approach, which is used to rapidly form the desired formation and reach the steady-state of Multi-UAV. The UAV formation system consists of four UAVs, forming a regular triangle formation. One of the UAVs is a virtual leader, located in the center of the triangle, and the other three UVAs are located in the vertex of the triangle. Meanwhile, the forward speed of the leader is used as the forward direction of formation, and the followers follow the leader with formation flight. The error dynamics model of each follower is established by using the leader guidance mechanism, and the communication mode between any two UAVs is established based on the graph theory. In addition, the guidance control law is obtained by the back-stepping approach. A reasonable Lyapunov function is constructed to prove the effectiveness of the proposed cooperative guidance control law in formation aggregation and formation keeping. Moreover, the proposed method is compared with the Model Prediction control (MPC) and the Laplace method to further verify the effectiveness of the proposed method. The simulation results show that each UAV can converge the desired motion trajectory and fly in the desired formation with fast convergence speed and small steady-state error.

Key words： UAV formation; back-stepping approach; cooperative guidance control law; Lyapunov function; steady-state error

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