摘要
在时变通信延迟下研究了无人机群编队的鲁棒自适应控制问题。对于无人机编队系统中存在外部扰动和模型不确定性的情况,通过选取包含位置跟踪误差和速度跟踪误差的辅助变量,提出了一种适用于时变通信延迟的鲁棒自适应编队控制策略。提出了自适应律对无人机质量、外界扰动的上界等未知参数进行估计,并且利用Lyapunov稳定性理论分析了闭环系统的渐近稳定性,给出了系统渐近稳定所需要满足的条件。数值仿真结果表明,所提出的控制方法既能抑制外界扰动和模型不确定性对控制器的影响,同时队形跟踪和队形保持的稳态误差分别小于0.1 m和0.05 m。
The problem of robust adaptive control of unmanned aerial vehicle＇s（UAV＇s） formation is investigated with time-varying communication delays. According to the external disturbances and model uncertainties in the UAV formation system, a robust adaptive formation control scheme with time-varying communication delays is proposed by selecting auxiliary variables, including position tracking error and velocity tracking error. The adaptive laws are presented to estimate the unknown parameters, including the mass of the UAV and the bound of the external disturbances. The asymptotical stability of closed-loop system is analyzed based on Lyapunov stability theory, and the conditions for satisfying the asymptotical stability of the system are given. Simulation results demonstrate that the proposed control approach can achieve the purpose of formation tracking with high precision, and the steady-state errors of the formation tracking and formation keeping are less than 0.1 m and 0.05 m, respectively.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2016年第1期108-113,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(61174037
61402426)
关键词
无人机
编队稳定性
自适应律
通信延迟
鲁棒控制
unmanned aerial vehicle
formation stability
adaptive law
communication delay
robust control
