内外干扰下四旋翼无人机防撞方位编队控制

doi:10.7527/S1000-6893.2025.33224

Abstract

Abstract:

A safe control scheme integrating a parameter adaptation approach， distributed extended state observer and reciprocal control barrier function is proposed to address bearing formation control and inter-agent collision safety issues of quadrotor UAV swarms under unmodeled dynamics and external disturbances. Under the leader-follower architecture， a state-disturbance estimation framework is constructed， which only adopts inter-UAV bearing angles， bearing angular rates and relative distance information to online estimate the global position， velocity as well as internal and external disturbances of each follower. A Control Lyapunov Function （CLF） is formulated according to estimated states and desired trajectories. Meanwhile， a Reciprocal Control Barrier Function （RCBF） considering both relative position and relative velocity is designed. Both functions are incorporated into a quadratic programming solver to acquire optimal control inputs satisfying safety constraints in real time， and the feasibility of the optimization problem is strictly verified theoretically. Simulation results of 8-UAV formation demonstrate that the swarm can accomplish the formation construction and maintenance of cubic topology against internal and external disturbances. The minimum distance among followers remains at 0.75 m， which is higher than the safety threshold of 0.5 m. This value is remarkably superior to 0.37 m of the improved artificial potential field method and 0.10 m of the scheme without collision avoidance mechanism. The proposed strategy possesses comprehensive advantages in formation tracking accuracy， disturbance resistance performance and collision avoidance security， and exhibits favorable practical engineering application prospects.

Key words: quadrotor, bearing-based formation control, adaptation estimation method, distributed extended state observer, UAV collision avoidance

CLC Number:

V249.1

Wenyu ZHOU, Yingjie WANG, Chenhao OUYANG, Zixuan ZHENG, Xiaokui YUE. Bearing-based collision-avoidance formation control of quadrotor UAVs under internal and external disturbances[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 533224.

Figures/Tables 14

Table 1

Glossary

符号	定义
$G$ 、 $V$ 、 $E$	集群通信拓扑无向图、节点集、边集
$N i$	集群中第i个无人机的邻居集
$g i j 、 P i j 、 g i j * 、 P i j *$	无人机i与j之间的实时、期望方位角及其正交投影矩阵
$L i j 3 N × 3 N$	无人机集群方位Laplacian矩阵
$x i, 1 、 x i, 2 、 x i, 3$	无人机i的状态、外部扰动
$z i, 1 、 z i, 2 、 z i, 3$ $f i 、 Ξ x i 、 ξ i$	无人机i的状态、外部扰动估计无人机i的未建模动态及参数化表示
$p ̂ i * 、 p ̂ ˙ i * 、 p ̂ i * 2$	无人机i的期望位置、速度、加速度
$ψ 、 θ 、 φ 、 F$	无人机的偏航角、俯仰角、滚转角以及升力
$f i x i, 1, x i, 2 、 d i t$	无人机i受到的未建模动态、外部扰动导致的扰动加速度
$D s a f e 、 τ d$	无人机安全距离、安全时间
$h i j 、 B i j$	无人机i与j障碍函数、倒数控制障碍函数
$A c l f, i 、 b c l f, i$	无人机i CLF控制条件
$A c b f, i j 、 b c b f, i j$	无人机i和无人机jRCBF控制条件

Table 1

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Table 2

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编号	X/m	Y/m	Z/m	V_X （m/s）	V_Y （m/s）	V_Z （m/s）
3	2.0	0.4	2.9	0	0	0.6
4	2.0	0.4	5.1	0	0	-0.6
5	2.0	3.6	2.9	0	0	0.6
6	2.0	3.6	5.1	0	0	-0.6
7	6.0	0.4	2.2	-0.3	0.8	0
8	6.0	3.6	2.0	-0.3	-0.8	0

Bearing-based collision-avoidance formation control of quadrotor UAVs under internal and external disturbances

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