基于端口哈密顿系统的无人机编队分布式控制
收稿日期: 2023-11-13
修回日期: 2023-11-21
录用日期: 2023-12-20
网络出版日期: 2023-12-26
基金资助
国家自然科学基金(62073343)
Distributed control of UAVs formation based on port⁃Hamiltonian system
Received date: 2023-11-13
Revised date: 2023-11-21
Accepted date: 2023-12-20
Online published: 2023-12-26
Supported by
National Natural Science Foundation of China(62073343)
郝文康 , 包素艳 , 陈琪锋 . 基于端口哈密顿系统的无人机编队分布式控制[J]. 航空学报, 2023 , 44(S2) : 729868 -729868 . DOI: 10.7527/S1000-6893.2023.29868
A distributed control law suitable for Unmanned Aerial Vehicle (UAV) formation is designed based on the port Hamiltonian system theory and the passivity-based control method of states error interconnection damping. Firstly, a states error model for UAVs formation under distributed control is established. Secondly, the expected Hamiltonian energy function of the system is designed based on the states error of the relative equilibrium state of each UAV and the states error between UAVs. Then, based on the passivity-based control method of states error interconnection damping, the control law of the UAVs formation system is derived. Finally, the designed control law is verified by simulation. The results show that the UAVs formation under this control law can be quickly stabilized to the expected formation, and has certain performance advantages in convergence time and response process stationarity.
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