宇航学报

宇航学报 ›› 2022, Vol. 43 ›› Issue (5): 665-674.doi: 10.3873/j.issn.1000-1328.2022.05.011

• 制导、导航、控制与电子 • 上一篇    下一篇

基于自适应通信拓扑的无人机集群弱路径约束下的分布式控制器设计

刘金龙，张泽旭，徐田来，邓涵之
  

  1. 1. 哈尔滨工业大学飞行器动力学与控制研究所，哈尔滨 150080；2. 济南大学自动化与电气工程学院，济南 250022
  • 收稿日期:2021-06-11 修回日期:2021-09-03 出版日期:2022-05-15 发布日期:2022-05-15
  • 基金资助:
    国防基础加强计划（2020 JCJQ ZD 015 00）

Distributed Controller Design of UAV Swarm under Weak Path Constraints Based on Adaptive Communication Topology

LIU Jinlong, ZHANG Zexu, XU Tianlai, DENG Hanzhi   

  1. 1. Institute of Aircraft Dynamics and Control, Harbin Institute of Technology, Harbin 150080, China;2. School of Electrical Engineering, University of Jinan, Jinan 250022, China
  • Received:2021-06-11 Revised:2021-09-03 Online:2022-05-15 Published:2022-05-15

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摘要： 针对传统无人机集群飞行控制需要规划过多飞行路径的问题，设计一种结合线性二次型调节器(LQR)与机间防撞的分布式协同控制器，不需要为集群设计相对构型，只需给定一条满足无人机动力学约束的飞行路径，集群就可沿路径飞行。该控制器通过设计自适应通信拓扑来稳定加入机间防撞机制带来的抖振效应，并使集群具有良好可扩展性。仿真结果表明，所设计的分布式控制器可以实现规划一条路径下无人机集群无机间碰撞的稳定飞行。

关键词: color:#000000, font-family:", sans serif", ,tahoma,verdana,helvetica, font-size:12px, font-style:normal, font-weight:400, line-height:18px, text-decoration:none, ">自适应通信拓扑；弱路径约束；分布式控制；线性二次型调节器；机间防撞color:#000000, font-family:", sans serif", ,tahoma,verdana,helvetica, font-size:12px, font-style:normal, font-weight:400, line-height:18px, text-decoration:none, ">

Abstract: Aiming at the problem that traditional UAV swarm flight control needs planning too many flight paths, a distributed cooperative controller composed of the linear quadratic regulator(LQR) and inter agent collision avoidance is designed. There is no need to design relative configuration for the swarm, only a flight path input satisfying the dynamics constraints for the UAV is given, the swarm can fly along the path. By designing an adaptive communication topology, the controller can stabilize the chattering effect caused by adding the inter agent collision avoidance mechanism, which also makes the swarm have good scalability. The simulation results show that the distributed controller designed here can realize the stable flight of UAV swarm with no inter agent collision under one path input.

Key words: Adaptive communication topology, Weak path constraints, Distributed control, Linear quadratic regulator(LQR), Inter agent collision avoidance

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