基于自适应动态逆的编队位置控制方法研究

A Formation Position Control Method Based on Adaptive Dynamic Inversion

摘要:

为了适应环境变化和任务需求,无人机编队协同需要切换不同的编队队形,针对无人机编队飞行中队形重构和位置变化问题,提出了一种基于自适应动态逆的编队位置控制方法。首先,设计指令跟踪自适应动态逆航迹控制回路,以补偿队形变换产生的控制误差和外部扰动；然后基于一致性协议,设计协同编队控制律,为了减少位置变换过程中的航路交叉并且缩短飞行航路,采用基于无人机方位和距离的动态位置匹配算法；最后以八架无人机紧密编队为例,进行队形重构和位置变化仿真分析,分别模拟飞行任务过程中环境变换和无人机故障的编队队形重构场景,仿真结果表明,该方案能够提高无人机控制的鲁棒性,提高编队位置变换过程中的安全性,并且减少编队能量损耗。

Abstract:

To adapt to environmental changes and mission requirements, the coordinated operation of unmanned aerial vehicle (UAV) formations requires to switch among different formation patterns. Aiming at the issues of formation reconfiguration and position changes during UAV formation flights, a formation position control method based on adaptive dynamic inversion is proposed. Firstly, an adaptive dynamic inversion trajectory control loop for instruction tracking is designed to compensate for the control errors and external disturbances caused by formation transformation. Then, based on the consensus protocol, the collaborative formation control laws are designed. Next, in order to reduce the route crossings during the position change process and simultaneously shorten the flight routes, a dynamic position matching algorithm based on the azimuth and distance of UAVs is proposed. Finally, taking the close formation of eight UAVs as an example, the simulation analysis of formation reconfiguration and position changes is carried out, respectively simulating the formation topology change scenarios of environmental changes and UAV failures during the flight mission process. The simulation results demonstrate that this scheme can enhance the robustness of UAV control, improve the safety during the topology change process, and reduce the energy consumption of the formation.