状态约束下的多飞行器有限时间姿态一致性控制

doi:10.3969/j.issn.1009-086x.2024.02.014

现代防御技术 ›› 2024, Vol. 52 ›› Issue (2): 124-131.DOI: 10.3969/j.issn.1009-086x.2024.02.014

状态约束下的多飞行器有限时间姿态一致性控制

王利楠¹(), 温广辉¹(), 伊枭剑²

^1.东南大学系统科学系，江苏南京 211189
^2.北京理工大学机电学院，北京 100081

收稿日期:2024-01-04 修回日期:2024-02-13 出版日期:2024-04-28 发布日期:2024-04-29
通讯作者: 温广辉
作者简介:王利楠(1996-)，男，浙江金华人。博士生，研究方向为导航制导与集群控制。E-mail：linanwang@seu.edu.cn
基金资助:
国防基础科研项目(JCKY2021602B035)

Finite-time Attitude Consensus Control of Multiple Unmanned Aerial Vehicles Under State Constraints

Linan WANG¹(), Guanghui WEN¹(), Xiaojian YI²

^1.Department of Systems Science, Southeast University, Nanjing 211189, China
^2.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China

Received:2024-01-04 Revised:2024-02-13 Online:2024-04-28 Published:2024-04-29
Contact: Guanghui WEN

摘要/Abstract

摘要：

执行机构的物理限制等因素的影响，多飞行器姿态一致性控制面临姿态和角速度约束的挑战，加大了设计有效姿态一致性控制器的技术难度。针对此问题，提出了一种状态约束(含姿态和角速度约束)下的多飞行器有限时间姿态一致性控制器。利用非光滑理论和代数图论的知识设计了一类有限时间姿态一致性控制策略，并结合障碍Lyapunov函数技术构建了一类新颖的姿态一致性跟踪控制器。理论分析表明，提出的控制器能够在满足姿态和角速度约束条件下实现所有飞行器的姿态在有限时间内跟踪到期望姿态值。该方法具备结构简单、自定义约束适应性强和快速收敛等优点。仿真结果表明，所提的方法能够在满足姿态和角速度约束的条件下实现多飞行器对期望姿态的有限时间一致性跟踪。

关键词: 多飞行器, 协同控制, 姿态一致性, 有限时间控制, 状态约束

Abstract:

Due to factors such as the limited capabilities of the actuators， one needs to generally consider the effect of constraints on both attitude and angular velocity when addressing the attitude consensus control problem of multiple unmanned aerial vehicles （UAVs）. However， the constraints on both attitude and angular velocity pose a challenge to the design of effective attitude consensus controllers for multiple UAVs. To address such an issue， this paper introduces a finite-time attitude consensus controller for multiple UAVs under state constraints including the constraints on both attitude and angular velocity. Specifically， by using tools from nonsmooth analysis and algebraic graph theory， the paper develops a class of finite-time attitude consensus control strategies. In addition， combined with the barrier Lyapunov function （BLF） technique， it constructs a novel attitude consensus tracking controller. Theoretical analysis demonstrates that， under attitude and angular velocity constraints， the proposed controller enables the attitude of all UAVs to track the desired attitude within a finite time. Notably， the proposed method offers advantages such as simplicity of structure， adaptability to user-defined constraints， and fast convergence. Simulation results indicate that the proposed controller achieves finite-time consensus tracking of the desired attitude under constraints on attitude and angular velocity.

Key words: multiple unmanned aerial vehicles（UAVs）, cooperative control, attitude consensus, finite-time control, state constraints

中图分类号:

V279⁺.2

王利楠, 温广辉, 伊枭剑. 状态约束下的多飞行器有限时间姿态一致性控制[J]. 现代防御技术, 2024, 52(2): 124-131.

Linan WANG, Guanghui WEN, Xiaojian YI. Finite-time Attitude Consensus Control of Multiple Unmanned Aerial Vehicles Under State Constraints[J]. Modern Defense Technology, 2024, 52(2): 124-131.

图/表 5

图1 飞行器间的通讯拓扑图

Fig. 1 Communication topology among aircraft

表1 飞行器设定受限值和仿真初始值

Table1 Simulation initial and reference constraint value for four UAVs

编号	$q 0$	$q 1$	$q 2$	$q 3$	$ω 1$ /（rad·s^-1）	$ω 2$ /（rad·s^-1）	$ω 3$ /（rad·s^-1）
参考约束	1	0.6	0.65	0.7	1.5	1.5	1.5
1	0.768 3	0.371	0.384	0.353 0	-0.21	-0.23	-0.25
2	-0.352 1	0.502	0.540	0.576 5	0.13	0.32	0.34
3	0.134 5	0.572	0.456	0.668 3	-0.10	-0.13	-0.14
4	-0.245 6	0.556	0.593	0.528 1	0.23	0.31	0.22

表1 飞行器设定受限值和仿真初始值

Table1 Simulation initial and reference constraint value for four UAVs

编号	$q 0$	$q 1$	$q 2$	$q 3$	$ω 1$ /（rad·s^-1）	$ω 2$ /（rad·s^-1）	$ω 3$ /（rad·s^-1）
参考约束	1	0.6	0.65	0.7	1.5	1.5	1.5
1	0.768 3	0.371	0.384	0.353 0	-0.21	-0.23	-0.25
2	-0.352 1	0.502	0.540	0.576 5	0.13	0.32	0.34
3	0.134 5	0.572	0.456	0.668 3	-0.10	-0.13	-0.14
4	-0.245 6	0.556	0.593	0.528 1	0.23	0.31	0.22

图2 飞行器控制力矩响应曲线

Fig. 2 Response curves of control torque

图3 飞行器姿态响应曲线

Fig. 3 Response curves of attitude

图4 飞行器角速度响应曲线

Fig. 4 Response curves of angular velocity

参考文献 18

1	温广辉，周佳玲，吕跃祖，等. 多导弹协同作战中的分布式协调控制问题［J］. 指挥与控制学报， 2021， 7（2）： 137-145.
	WEN Guanghui， ZHOU Jialing， Yuezu LÜ， et al. Distributed Coordination Control in Multi-missile Cooperative Tasks［J］. Journal of Command and Control， 2021， 7（2）： 137-145.
2	张豪，王鹏，汤国建，等. 高超声速变外形飞行器事件触发有限时间控制［J］. 航空学报， 2023， 44（15）： 325-338.
	ZHANG Hao， WANG Peng， TANG Guojian， et al. Event-Triggered Fast Finite Time Control for Hypersonic Morphing Vehicles［J］. Acta Aeronautica et Astronautica Sinica， 2023， 44（15）： 325-338.
3	黄旭，柳嘉润，贾晨辉，等. 强化学习控制方法及在类火箭飞行器上的应用［J］. 宇航学报， 2023， 44（5）： 708-718.
	HUANG Xu， LIU Jiarun， JIA Chenhui， et al. Reinforcement Learning Control and Its Application on Rocket-Like Vehicle［J］. Journal of Astronautics， 2023， 44（5）： 708-718.
4	邹尧，孟子阳. 垂直起降飞行器的自适应集群编队飞行控制［J］. 中国科学：技术科学， 2020， 50（4）： 369-379.
	ZOU Yao， MENG Ziyang. Adaptive Formation Control of Multiple Vertical Takeoff and Landing UAVs［J］. Scientia Sinica（Technologica）， 2020， 50（4）： 369-379.
5	刘国庆，赵林. 多飞行器的有限时间姿态一致性编队控制［J］. 无人系统技术， 2020， 3（2）： 22-29.
	LIU Guoqing， ZHAO Lin. Finite Time Attitude Consensus Formation Control for Multiple Spacecrafts［J］. Unmanned Systems Technology， 2020， 3（2）： 22-29.
6	DU Haibo， CHEN Z Q， WEN Guanghui. Leader-Following Attitude Consensus for Spacecraft Formation with Rigid and Flexible Spacecraft［J］. Journal of Guidance， Control， and Dynamics， 2016， 39（4）： 944-951.
7	CUI Bing， XIA Yuanqing， LIU Kun， et al. Velocity-Observer-Based Distributed Finite-Time Attitude Tracking Control for Multiple Uncertain Rigid Spacecraft［J］. IEEE Transactions on Industrial Informatics， 2020， 16（4）： 2509-2519.
8	LAYH T， GEBRE-EGZIABHER D. Design for Graceful Degradation and Recovery From GNSS Interruptions［J］. IEEE Aerospace and Electronic Systems Magazine， 2017， 32（9）： 4-17.
9	XU Chuang， WU Baolin， WANG Danwei. Distributed Prescribed-Time Attitude Coordination for Multiple Spacecraft with Actuator Saturation Under Directed Graph［J］. IEEE Transactions on Aerospace and Electronic Systems， 2022， 58（4）： 2660-2672.
10	LI Shihua， DU Haibo， SHI Peng. Distributed Attitude Control for Multiple Spacecraft with Communication Delays［J］. IEEE Transactions on Aerospace and Electronic Systems， 2014， 50（3）： 1765-1773.
11	XIA Yuanqing， ZHOU Ning， LU Kunfeng， et al. Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances［J］. IEEE/CAA Journal of Automatica Sinica， 2015， 2（1）： 2-10.
12	YU Xiao， LIU Lu. Distributed Formation Control of Nonholonomic Vehicles Subject to Velocity Constraints［J］. IEEE Transactions on Industrial Electronics， 2016， 63（2）： 1289-1298.
13	WU Yuhu， HU Kaijian， SUN Ximing， et al. Nonlinear Control of Quadrotor for Fault Tolerance： A Total Failure of One Actuator［J］. IEEE Transactions on Systems， Man， and Cybernetics： Systems， 2021， 51（5）： 2810-2820.
14	POLYAKOV A. Nonlinear Feedback Design for Fixed-Time Stabilization of Linear Control Systems［J］. IEEE Transactions on Automatic Control， 2012， 57（8）： 2106-2110.
15	PENG T K. Adaptive Control of Uncertain Constrained Nonlinear Systems［D］. Singapore： National University of Singapore， 2008.
16	LI Dapeng， LIU Yanjun， TONG Shaocheng， et al. Neural Networks-Based Adaptive Control for Nonlinear State Constrained Systems with Input Delay［J］. IEEE Transactions on Cybernetics， 2019， 49（4）： 1249-1258.
17	ZOU Anmin， FAN Zhun. Fixed-Time Attitude Tracking Control for Rigid Spacecraft Without Angular Velocity Measurements［J］. IEEE Transactions on Industrial Electronics， 2020， 67（8）： 6795-6805.
18	HE Shaoming， LIN Defu， WANG Jiang. Terminal Sliding Mode Based Impact Angle Guidance Law with Observability Enhancement［C］∥Proceedings of 2014 IEEE Chinese Guidance， Navigation and Control Conference. Piscataway， NJ， USA： IEEE， 2014： 77-82.

状态约束下的多飞行器有限时间姿态一致性控制

Finite-time Attitude Consensus Control of Multiple Unmanned Aerial Vehicles Under State Constraints

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 5

参考文献 18

相关文章 1

编辑推荐

Metrics

本文评价