基于事件触发的多无人机固定时间编队控制

doi:10.16182/j.issn1004731x.joss.20-0613

系统仿真学报 ›› 2021, Vol. 33 ›› Issue (10): 2420-2431.doi: 10.16182/j.issn1004731x.joss.20-0613

基于事件触发的多无人机固定时间编队控制

叶帅^1,2, 蒋国平^1,2, 周映江^1,2,*, 刘尚^1,2

1.南京邮电大学自动化学院、人工智能学院,江苏南京 210023;
2.江苏省物联网智能机器人工程实验室,江苏南京 210023

收稿日期:2020-08-20 修回日期:2020-10-27 出版日期:2021-10-18 发布日期:2021-10-18
通讯作者: 周映江(1985-),男,博士,讲师,研究方向为多智能体系统及其应用。E-mail：zhouyj@njupt.edu.cn
作者简介:叶帅(1996-),男,硕士,研究方向为无人机的编队优化控制。E-mail：15950511893@163.com
基金资助:
国家自然科学基金(616033196,61873326); 江苏省研究生科研与实践创新计划(KYCX19_0975)

Fixed-time Event-triggered Formation Control for Multiple UAVs

Ye Shuai^1,2, Jiang Guoping^1,2, Zhou Yingjiang^1,2,*, Liu Shang^1,2

1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;
2. Jiangsu Engineering Lab for Iot Intelligent Robots (IotRobot), Nanjing 210023, China

Received:2020-08-20 Revised:2020-10-27 Online:2021-10-18 Published:2021-10-18

摘要/Abstract

摘要： 为解决四旋翼无人机编队控制问题,提出基于事件触发的多四旋翼无人机系统固定时间编队控制算法。针对无人机的姿态环控制,选取切换的固定时间滑模面,使得当系统状态在滑模面上时,系统能够在固定时间到达平衡点。当系统状态不在滑模面上时,设计固定时间滑模控制器,使得不在滑模面上的系统状态,能够在固定时间内到达滑模面。针对无人机的位置环控制,研究了事件驱动下的固定时间编队控制策略。分析表明：位置控制器最短触发时间间隔是一个有限的值,证明系统不存在Zeno现象。通过数值仿真验证了所提控制算法的有效性。

关键词: 多四旋翼无人机, 事件触发, 固定时间, 编队控制, 内外环控制

Abstract: To solve the quadrotor UAV formation control problem, an event-triggered fixed time formation control algorithm of multi quadrotor UAV system is studied. For the attitude loop control problem of UAV, the switching fixed time sliding surface is selected to make the system reach the equilibrium point in a fixed time when the system state is on the sliding surface. A fixed-time sliding mode controller is designed so that the system state which is not on the sliding surface can reach the sliding surface within a fixed time. In view of the position loop control problem of UAV, the event-driven fixed time formation control strategy is studied. It is analyzed that the shortest trigger time interval of position controller is a finite value and there is no Zeno phenomenon. The effectiveness of the proposed control algorithm is verified by numerical simulations.

Key words: multiple quadrotor aircraft, event-triggered, fixed-time, formation control, inner and outer ring control

中图分类号:

TP391

叶帅, 蒋国平, 周映江, 刘尚. 基于事件触发的多无人机固定时间编队控制[J]. 系统仿真学报, 2021, 33(10): 2420-2431.

Ye Shuai, Jiang Guoping, Zhou Yingjiang, Liu Shang. Fixed-time Event-triggered Formation Control for Multiple UAVs[J]. Journal of System Simulation, 2021, 33(10): 2420-2431.

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基于事件触发的多无人机固定时间编队控制

Fixed-time Event-triggered Formation Control for Multiple UAVs

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