无人机-无人车异构时变编队控制与扰动抑制

周思全; 董希旺; 李清东; 任章

doi:10.7527/S1000-6893.2019.23767

航空学报 >

2020 , Vol. 41 >Issue S1: 723767 - 723767

DOI: https://doi.org/10.7527/S1000-6893.2019.23767

无人机-无人车异构时变编队控制与扰动抑制

周思全 ,
董希旺 ,
李清东 ,
任章

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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

网络出版日期: 2020-01-10

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）

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

ZHOU Siquan ,
DONG Xiwang ,
LI Qingdong ,
REN Zhang

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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 date: 2019-12-13

Revised date: 2019-12-26

Online 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)

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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

本文引用格式

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 . DOI: 10.7527/S1000-6893.2019.23767

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

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