四旋翼无人机分布式编队LQR与模糊PID控制研究

Distributed Formation Control of Quadrotor UAVs Using LQR and Fuzzy?PID

摘要:

为提升多四旋翼无人机在复杂环境下的协同控制性能，基于分布式一致性理论构建了一种由外环 LQR 最优控制与内环模糊 PID 组成的双环控制方法。该方法利用局部邻域信息实现分布式协同，通过外环优化动态响应并由内环增强稳态精度与抗扰能力。结合链式、树形和完全拓扑结构以及三类典型外部扰动，开展九组仿真以评估控制策略的稳定性与鲁棒性。仿真结果表明，该方法在链式和树形拓扑下能够实现快速收敛和稳定编队，对非线性扰动、随机噪声和周期性扰动均具有良好的抑制效果；完全拓扑条件下出现发散现象，反映了拓扑结构对系统稳定性的显著影响。研究结果为多无人机编队控制中的拓扑设计与参数整定提供了参考。

Abstract:

To enhance the cooperative performance of multiple quadrotor UAVs in complex environments, a dual-loop distributed control method is developed based on consensus theory. The approach integrates an outer-loop Linear Quadratic Regulator to improve dynamic response and an inner-loop fuzzy PID controller to strengthen steady-state accuracy and disturbance rejection, relying only on local neighbor information for coordination. Nine simulation scenarios are constructed by combining chain, tree, and complete topologies with three types of disturbances to assess stability and robustness. The results show that stable formation and fast convergence are achieved under chain and tree topologies, with effective suppression of nonlinear disturbances, random noise, and periodic perturbations. Divergence occurs under the complete topology, indicating the significant influence of network structure on system stability. These findings provide reference for topology design and parameter selection in multi-UAV formation control.