基于预测控制方法的UAV编队飞行

UAV Formation Flight Based on MPC Method

摘要:

针对传统UAV编队控制律显式考虑约束能力不强的不足,基于预测控制方法和虚拟结构控制策略,设计了一种分布式编队控制律。该控制律能显式地考虑各种约束,每个UAV仅需要滚动求解有限时域优化问题得到自身控制输入,提出了一种简单的代价惩罚的方法实现障碍规避,并将优先级策略引入UAV之间避碰中。仿真结果表明,所设计的编队控制律具有较好的性能。

Abstract:

Traditional control laws for unmanned aerial vehicle (UAV) formation flight could not consider various constraints thoroughly. A collision-free formation flight control law for unmanned aerial vehicle (UAV) was designed based on nonlinear model predictive control (MPC) and virtual structure formation control strategy. The formation flight controller was designed in a distributed way. Control inputs of each UAV at each sampling instant were obtained by solving a finite horizon optimization control problem. Obstacle avoidance was guaranteed by a new type of cost function and inter-vehicle collision avoidance was also ensured by cost function combined with a priority strategy. Simulation results showed that the designed formation flight control law had better performance.