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CLC number: TP391

On-line Access: 2017-07-31

Received: 2016-01-04

Revision Accepted: 2016-04-12

Crosschecked: 2017-06-20

Cited: 0

Clicked: 1972

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Xu Zhu

http://orcid.org/0000-0002-3616-4336

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Frontiers of Information Technology & Electronic Engineering  2017 Vol.18 No.7 P.968-977

http://doi.org/10.1631/FITEE.1600004


Consensus-based three-dimensional multi-UAV formation control strategy with high precision


Author(s):  Mao-de Yan, Xu Zhu, Xun-xun Zhang, Yao-hong Qu

Affiliation(s):  School of Electronic and Control Engineering, Chang'an University, Xi'an 710064, China; more

Corresponding email(s):   mdyan@chd.edu.cn, zhuxu_1987@sina.com, zhangxunxun0427@163.com, qyh0809@nwpu.edu.cn

Key Words:  Multiple unmanned aerial vehicles, Consensus, Cooperative guidance, Cooperative control, Synchronization technology


Mao-de Yan, Xu Zhu, Xun-xun Zhang, Yao-hong Qu. Consensus-based three-dimensional multi-UAV formation control strategy with high precision[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(7): 968-977.

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Abstract: 
We propose a formation control strategy for multiple unmanned aerial vehicles (multi-UAV) based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, the cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.

基于一致性的三维多无人机高精度编队控制策略

概要:本文提出了一种基于二阶一致性的多无人机编队控制策略,通过邻接通信,引入位置和速度协同变量来产生控制命令。提出了协同导航算法和协同控制算法,它们分别控制位置和姿态,联合二者可保持特定几何队形。整个编队系统包含三部分:六自由度无人机模型、协同导航算法、协同控制算法,编队控制策略是闭环和全状态的。协同导航算法是二阶一致性算法,给出期望的加速度、俯仰角速率和偏航角速率。协同控制算法综合考虑纵向和横侧向机动,通过推导状态方程来设计协同控制律。分析了编队的闭环稳定性,给出了稳定的充分必要条件。利用同步技术,抑制了位置数据中的测量误差,提高了控制精度。仿真中,三维编队飞行验证了所提编队控制策略的可行性和有效性。

关键词:多无人机;一致性;协同导航;协同控制;同步技术

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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