无人机集群分组编队控制跟踪一体化设计

doi:10.12305/j.issn.1001-506X.2023.03.27

摘要/Abstract

摘要：

针对具有Lipschitz非线性动力学特性的无人机(unmanned aerial vehicle, UAV)集群系统的分组编队跟踪控制问题, 提出了一种基于一致性理论的分组编队协同控制方法。首先, 建立分层双虚拟结构的协同控制框架, 将多编队生成、保持以及组内组间协同变换等复杂编队任务作为控制目标, 基于参数组的队形描述方法, 在分层控制框架内分别设置轨迹导引UAV和基准UAV, 并利用UAV之间的局部运动信息设计编队控制律, 克服了采用现有多编队控制策略编队间难以协同的缺陷; 其次, 设计多编队控制和目标跟踪一体化控制策略, 确保在多编队进行协同变换的同时实现对机动目标的精确协同跟踪; 最后, 仿真结果验证了所提的控制算法能够实现分组编队的跟踪控制。

关键词: 多编队控制, 一致性控制, 队形参数组, 分组编队协同, 目标跟踪

Abstract:

Aiming at the group formation tracking and control problem of unmanned aerial vehicles (UAV) swarm system with Lipschitz nonlinear dynamics, a group formation cooperative control method based on consensus theory is proposed. Firstly, a cooperative control framework with hierarchical dual virtual structure is established, taking complex formation tasks such as multi-formation generation, maintenance and cooperative transformation in group and between groups as control objectives. Based on the formation description method of parameter group, trajectory guided UAV and reference UAV are set respectively in the hierarchical control framework, and the formation control law is designed by using the local motion information between UAVs, which overcomes the defect that the existing multi-formation control strategy is difficult to cooperate among formations. Secondly, the integrated control strategy of multi-formation control and target tracking is designed to ensure the accurate cooperative tracking of maneuvering targets while multi-formation is transformed cooperatively. Finally, the simulation results verify that the control algorithm designed in this paper can realize the tracking control of packet formation.

Key words: multi-formation control, consensus control, formation parameter group, group formation coordination, target tracking

中图分类号:

张毅, 于浩, 杨秀霞, 姜子劼. 无人机集群分组编队控制跟踪一体化设计[J]. 系统工程与电子技术, 2023, 45(3): 848-858.

Yi ZHANG, Hao YU, Xiuxia YANG, Zijie JIANG. Integrated design of group formation control and tracking of UAV swarm[J]. Systems Engineering and Electronics, 2023, 45(3): 848-858.

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t/s	r_i	θ′_i
[0, 10)	40, 40, 40, 40	$ \frac{{\rm{ \mathsf{ π} }} }{6}, \frac{{5{\rm{ \mathsf{ π} }} }}{6}, \frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}$
[10, 20)	35, 30, 35, 30	$ \frac{{\rm{ \mathsf{ π} }} }{2}, {\rm{ \mathsf{ π} }} , \frac{{3{\rm{ \mathsf{ π} }} }}{2}, 2{\rm{ \mathsf{ π} }} $
[20, 30)	$ 35\sqrt 2 , 35\sqrt 2 , 35\sqrt 2 , 35\sqrt 2 $	$ \frac{{\rm{ \mathsf{ π} }} }{2}, {\rm{ \mathsf{ π} }} , \frac{{3{\rm{ \mathsf{ π} }} }}{2}, 2{\rm{ \mathsf{ π} }} $

t/s	r_i	θ₁	θ₂	θ₃	θ₄
[0, 10)	16, 16, 16, 16	$ {\frac{{\rm{ \mathsf{ π} }} }{6},\frac{{5{\rm{ \mathsf{ π} }} }}{6},\frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{6},\frac{{5{\rm{ \mathsf{ π} }} }}{6},\frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{6},\frac{{5{\rm{ \mathsf{ π} }} }}{6},\frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{6},\frac{{5{\rm{ \mathsf{ π} }} }}{6},\frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}}$
[10, 20)	15, 15, 15, 15	$ {\frac{{\rm{ \mathsf{ π} }} }{4},\frac{{3{\rm{ \mathsf{ π} }} }}{4},\frac{{5{\rm{ \mathsf{ π} }} }}{4},\frac{{7{\rm{ \mathsf{ π} }} }}{4}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{4},\frac{{3{\rm{ \mathsf{ π} }} }}{4},\frac{{5{\rm{ \mathsf{ π} }} }}{4},\frac{{7{\rm{ \mathsf{ π} }} }}{4}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{4},\frac{{3{\rm{ \mathsf{ π} }} }}{4},\frac{{5{\rm{ \mathsf{ π} }} }}{4},\frac{{7{\rm{ \mathsf{ π} }} }}{4}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{4},\frac{{3{\rm{ \mathsf{ π} }} }}{4},\frac{{5{\rm{ \mathsf{ π} }} }}{4},\frac{{7{\rm{ \mathsf{ π} }} }}{4}}$
[20, 30)	15, 25, 15, 25	$ {{\rm{ \mathsf{ π} }} ,{\rm{ \mathsf{ π} }} ,\frac{{3{\rm{ \mathsf{ π} }} }}{2},\frac{{3{\rm{ \mathsf{ π} }} }}{2}}$	$ {0,0,\frac{{3{\rm{ \mathsf{ π} }} }}{2},\frac{{3{\rm{ \mathsf{ π} }} }}{2}}$	$ {0,0,\frac{{\rm{ \mathsf{ π} }} }{2},\frac{{\rm{ \mathsf{ π} }} }{2}}$	$ {{\rm{ \mathsf{ π} }} ,{\rm{ \mathsf{ π} }} ,\frac{{\rm{ \mathsf{ π} }} }{2},\frac{{\rm{ \mathsf{ π} }} }{2}}$

方向	(v_min, v_max)	(a_min, a_max)
x	(－13.9, 13.9)	(－15, 15)
y	(－13.9, 13.9)	(－15, 15)
z	(－8, 9)	(－8.4, 9)

编号	x_i(0)/m	v_i(0)/(m/s)
领导者1	(35, 30, 0)	(4, －2, 5)
领导者2	(－30, 35, 0)	(3, 5, 5)
领导者3	(－32, －30, 0)	(4, －3, 2)
领导者4	(30, －32, 0)	(5, 4, 2)

编号	v_i(0)/(m/s)	x_i(0)/m	编号	v_i(0)/(m/s)	x_i(0)/m
UAV1	(0, －1.5)	(1, 3)	UAV7	(0, －1.5)	(6, 9)
UAV2	(－1.5, 0)	(5, 6)	UAV8	(－1.5, 0)	(5, 10)
UAV3	(1.0, －1.0)	(4, 8)	UAV9	(1.0, －1.0)	(12, 15)
UAV4	(0, －1.5)	(7, 9)	UAV10	(0, －1.5)	(14, 17)
UAV5	(－1.5, 0)	(11, 12)	UAV11	(－1.5, 0)	(15, 10)
UAV6	(1.0, －1.0)	(8, 10)	UAV12	(1.0, －1.0)	(20, 15)