基于一致性的异构多无人机编队控制

Heterogeneous UAV Formation Control Based on Consensus

摘要:

编队控制在异构多无人机系统研究中具有重要意义,是实现多无人机任务协同、信息共享与路径优化的关键技术,广泛应用于军事侦察、灾害救援、环境监测及空域管控等复杂场景；为解决由四旋翼与垂起固定翼无人机组成的异构无人机编队的协同控制问题,针对传统控制方法依赖固定通信拓扑、面对通信中断导致的拓扑切换易失稳等不足,提出了基于一致性的分布式控制框架；针对固定拓扑设计一致性控制律,同时创新引入联合连通性条件,突破传统固定拓扑约束进行切换拓扑控制律设计；结合轴向独立解耦模型,通过李雅普诺夫理论证明了系统全局渐进稳定；数值仿真验证表明,其在固定与切换拓扑下均能实现渐进收敛一致,为异构多无人机协同控制提供有效解决方案。

Abstract:

Formation control holds significant importance in the research of heterogeneous multi - unmanned aerial vehicle (UAV) systems. It serves as a crucial technology for enabling task collaboration, information sharing, and path optimization among multiple UAVs. This technology finds extensive applications in complex scenarios such as military reconnaissance, disaster relief, environmental monitoring, and airspace management and control. To tackle the cooperative control problem of heterogeneous UAV formations consisting of quadrotor UAVs and vertical takeoff and landing fixed - wing UAVs, considering the deficiencies of traditional control methods, which rely on fixed communication topologies and are vulnerable to instability during topology switching resulting from communication disruptions, a distributed control framework based on consensus is proposed. A consensus control law is designed for fixed topologies. Additionally, a joint connectivity condition is introduced innovatively to transcend the limitations of traditional fixed topologies and facilitate the design of control laws for switching topologies. By integrating the axial independent decoupling model, the global asymptotic stability of the system is proven using Lyapunov theory. Numerical simulation verifications demonstrate that this approach can achieve asymptotic convergence and consensus under both fixed and switching topologies, thus offering an effective solution for the cooperative control of heterogeneous multi - UAV systems.