多动态障碍下无人机鲁棒避障与轨迹跟踪控制(ICGNC增刊)

  • 李雅君 ,
  • 梁帅 ,
  • 苗昊春 ,
  • 栗金平 ,
  • 韦常柱 ,
  • 崔乃刚
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  • 1. 西安现代控制技术研究所
    2. 西安理工大学
    3. 哈尔滨工业大学航天工程系
    4. 哈尔滨工业大学

收稿日期: 2026-06-29

  修回日期: 2026-07-24

基金资助

陆空基信息感知与控制全国重点实验室自主科研项目

Robust Obstacle Avoidance and Trajectory Tracking Control for UAVs in Multiple Dynamic Obstacle Environments

  • LI Ya-Jun ,
  • LIANG Shuai ,
  • MIAO Hao-Chun ,
  • LI Jin-Ping ,
  • WEI Chang-Zhu ,
  • CUI Nai-Gang
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Received date: 2026-06-29

  Revised date: 2026-07-24

摘要

针对多动态障碍环境下考虑模型不确定性的无人机轨迹跟踪和安全避障耦合控制问题,提出了一种鲁棒避障固定时间轨迹跟踪控制方法。首先,将无人机位置动力学近似为包含匹配/不匹配不确定性扰动的受控二阶系统,设计了自适应固定时间轨迹跟踪控制器,保证无人机在无障碍下的跟踪性能;然后,构造了一类以动态障碍物安全距离为约束的二阶控制障碍函数(Control Barrier Function, CBF),并将扰动估计值与估计误差上界显式嵌入CBF约束,设计了一类引入松弛变量、可实时求解且递归可行的二次型优化控制器;在此基础上,进一步提出了一种距离驱动的权重调度策略,确保无人机在接近障碍物时优先避障,在远离障碍物时优先保证跟踪性能。通过理论分析证明了所提出控制方案的鲁棒避障安全性和固定时间稳定性,并通过对比仿真验证了所提控制策略的有效性与先进性。

本文引用格式

李雅君 , 梁帅 , 苗昊春 , 栗金平 , 韦常柱 , 崔乃刚 . 多动态障碍下无人机鲁棒避障与轨迹跟踪控制(ICGNC增刊)[J]. 航空学报, 0 : 0 -0 . DOI: 10.7527/S1000-6893.2026.34180

Abstract

This paper addresses the coupled control problem of robust trajectory tracking and safe obstacle avoidance for unmanned aerial vehicles (UAVs) operating in environments with multiple dynamic obstacles while subject to model uncertainties. A robust fixed-time trajectory tracking control scheme integrated with an obstacle avoidance mechanism is proposed. First, the UAV's positional dynamics are approximated as a controlled second-order system incorporating matched and unmatched uncertainties. An adaptive fixed-time trajectory tracking controller is designed to guarantee tracking performance in obstacle-free scenarios. Subsequently, a novel second-order Control Barrier Function (CBF) is constructed based on the safety distance constraint of dynamic obstacles. By explicitly embedding disturbance estimates and their upper bounds into the CBF constraints, a quadratic programming (QP) controller is formulated. This controller incorporates slack variables to ensure recursive feasibility and real-time solvability. Furthermore, a distance-driven weight scheduling strategy is introduced to adaptively adjust the priority: prioritizing obstacle avoidance when approaching obstacles and emphasizing tracking performance at a distance. Finally, rigorous theoretical analysis is provided to prove the robust safety guarantees and fixed-time stability of the closed-loop system. Comparative simulation results validate the effectiveness and superiority of the proposed control strategy.

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