基于端口哈密顿系统的无人机编队分布式控制

doi:10.7527/S1000-6893.2023.29868

Abstract

Abstract:

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.

Key words: UAVs formation, distributed, nonlinear system, port-Hamiltonian system, passivity-based control

CLC Number:

V249.121

Wenkang HAO, Suyan BAO, Qifeng CHEN. Distributed control of UAVs formation based on port⁃Hamiltonian system[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729868-729868.

Figures/Tables 9

Fig.1

Fig.2

Fig.3

Table 1

Initial conditions for UAVs

序号	位置/m	速度/（m·s^-1）	航向角/rad	期望位置/m
UAV₀	（0， 0）	30	$π / 2$
UAV₁	（100， 200）	28	$π / 3$	（173， -100）
UAV₂	（0， 400）	28	$π / 3$	（173， 100）
UAV₃	（-250， 200）	28	$π / 3$	（0， 200）
UAV₄	（-250， -200）	28	$π / 3$	（-173， 100）
UAV₅	（0， -400）	28	$π / 3$	（-173， -100）
UAV₆	（100， -200）	28	$π / 3$	（0， -200）

Table 1

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

References 23

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Distributed control of UAVs formation based on port⁃Hamiltonian system

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