风干扰及输入约束下的无人机一致性编队控制

Consistent formation control of UAVs under wind interference and input constraints

摘要:

针对固定翼无人机编队飞行过程中同时存在风干扰和执行器输入约束的问题，研究了带有虚拟领导者的分布式一致性控制方法。建立风场环境中的无人机运动学方程，采用一种能够处理非对称上下界的约束函数对输入进行限制；通过状态反馈推导恒定风扰和输入约束下的轨迹跟踪一致性编队控制律；进一步考虑随机风扰，设计输入约束下的鲁棒滑模编队控制律。仿真结果表明，与传统算法相比，所提出的编队控制律能够实现输入约束下的抗风扰轨迹跟踪编队飞行，并具有更快的收敛速度和更高的控制精度。

Abstract:

Aiming at the problems of wind disturbance and actuator input constraints during the formation flight of fixed-wing unmanned aerial vehicles (UAVs), a distributed cooperative control method with virtual leader is designed. The kinematics model of UAVs in wind field environment is established, and a smooth function which can deal with asymmetric upper and lower bounds is used to limit the input. The consistent formation control law of trajectory tracking under constant wind disturbance and input constraints is derived by state feedback. Furthermore, considering random wind disturbance, a robust sliding mode formation control law with input constraints is designed. The simulation results show that compared with traditional algorithms, the proposed formation control law can achieve wind-resistant trajectory tracking formation flying under input constraints, and has faster convergence speed and higher control accuracy.