基于速度前馈的无人机编队控制

UAV formation control based on velocity feedforward

摘要:

对旋翼无人机编队控制进行了研究，分析并简化了无人机模型。采用信息传递策略，提出了结合前馈与反馈的控制策略，前馈信息为长机实时速度。仿真测试显示，该策略在响应速度、稳定性和超调量上优于传统P控制器和PID控制器。通过构建两架四旋翼无人机系统，进行了编队飞行实验，实验结果证实了策略的有效性。该策略在工程应用中显示出价值和潜力，为旋翼类多无人机编队控制提供了解决方案。

Abstract:

The study focuses on the swarm control of rotary-wing drones, starting with an analysis and rational simplification of the drone models. Leveraging strategies for information dissemination within the swarm, a control approach that integrates feedforward and feedback mechanisms has been developed, with the feedforward component being the real-time speed of the leading drone. Simulations have validated the superiority of this strategy over conventional P and PID controllers in response agility, stability, and overshoot reduction. A multi-drone system consisting of two quadrotor drones was constructed, and swarm flight experiments were conducted, demonstrating the strategy's effectiveness in achieving robust swarm flight performance. This indicates the strategy's practical value and potential for engineering implementation, offering a viable solution for the swarm control of rotary-wing drones.