摘要
为实现固定翼无人机集群对理想编队构型的跟踪,研究了执行器存在未建模动态和不确定性的无人机集群系统的固定时间编队跟踪控制问题。首先,建立了无人机集群的三自由度运动学模型。其次,基于一种收敛时间独立于初始条件的固定时间终端滑模,设计了分布式固定时间编队协同跟踪控制器,利用控制器中的鲁棒项补偿外部扰动,通过Lyapunov稳定性理论证明了闭环系统的固定时间稳定性。最后,对所设计的控制器进行了数值仿真验证,仿真结果表明:所设计的控制器能够使无人机集群在固定时间内组成理想编队构型,同时系统具有鲁棒性。
The fixed-time formation tracking control problem is investigated for fixed-wing unmanned aerial ve-hicle(UAV)swarm in the presence of unmodeled dynamics and uncertainty to realize tracking of desired for-mation configuration in fixed time.Firstly,3DOF motion model of UAV swarm is established.Then,the distrib-uted fixed-time formation coordination tracking controller is designed based on fixed-time terminal sliding mode,which provides bounded convergence time independent of initial conditions.The robust term in the de-signed controller is proposed to compensate external disturbance,and the fixed-time stability of the closed-loop system is proven by employing the Lyapunov method.Finally,the performance of the proposed controller is ver-ified by numerical simulations.The simulation results show that the proposed controller can enable the UAV swarm to form an ideal formation configuration within a fixed time,while the system is robust.
作者
田霖
孙亮
TIAN Lin;SUN Liang(101 Research Institute,Ministry of Civil Affairs,Beijjing 100070,China;School of Intelligence Science and Technology,University of Science and Technology Bejing,Bejing 100083,China)
出处
《测控技术》
2023年第11期58-63,72,共7页
Measurement & Control Technology
基金
中央级公益性科研院所基本科研业务费专项(118011000000160004)。
