基于粒子群优化的多无人机快速鲁棒协同控制
Fast and robust cooperative control of multiple UAVs based on particle swarm optimization
李洋 1黄江涛 1刘超逸 2杨婷 2朱喆 1王春阳1
作者信息
- 1. 中国空气动力研究与发展中心空天技术研究所,绵阳 621000
- 2. 中国航天科工集团北京空天技术研究所,北京 100074
- 折叠
摘要
为综合优化传统无人机协同编队的鲁棒抗扰能力、收敛时间以及控制精度问题,提出了一种基于粒子群优化的多无人机快速鲁棒协同控制方法.设计了可实现有限时间收敛的多无人机协同编队控制器,加快了传统分布式编队的响应速度;设计了扰动快速观测器以补偿控制系统,该观测器可在有限时间内准确估计复合扰动,提升了编队控制精度和鲁棒抗扰性;在此基础上,同时考虑闭环系统的收敛时间以及控制误差,采用惩罚粒子群算法优化编队系统的设计参数,综合提升了多无人机鲁棒协同控制的飞行性能.
Abstract
Aiming at comprehensive optimization of the robust disturbance rejection capability,conver-gence time,and control accuracy of traditional UAV cooperative formations,a particle swarm optimization-based fast robust cooperative control method for multiple UAVs is proposed in this paper.A finite-time cooperative formation controller is designed to accelerate the response speed of traditional dis-tributed formations.A fast disturbance observer is developed to compensate for the control system,which is capable of accurately estimating composite disturbances within a finite time,thereby the forma-tion control precision and robust disturbance rejection are enhanced.On this basis,by considering both the convergence time and control error,a penalty-based particle swarm optimization algorithm is employed to optimize the design parameters of the formation system,which comprehensively improves the flight performance of multiple UAVs robust cooperative control.
关键词
多无人机/快速鲁棒协同/粒子群优化/有限时间/编队控制Key words
Multiple UAVs/Fast and robust cooperation/Particle swarm optimization/Finite-time/Formation control引用本文复制引用
出版年
2025
NETL
NSTL
万方数据