基于速度前馈的无人机编队控制
UAV Formation Control Based on Velocity Feedforward
祁亚辉 1狄凌松 1闫实 1吴修振 1孙德锋1
作者信息
摘要
对旋翼无人机编队控制进行了研究,分析并简化了无人机模型;采用信息传递策略,提出了结合前馈与反馈的控制策略,前馈信息为长机实时速度;仿真测试显示,该策略在响应速度、稳定性和超调量上优于传统P控制器和PID控制器;通过构建两架四旋翼无人机系统,进行了编队飞行实验,实验结果证实了策略的有效性;该策略在工程应用中显示出价值和潜力,为旋翼类多无人机编队控制提供了解决方案.
Abstract
The formation control of rotary wing unmanned aerial vehicles(UAVs)is researched,the drone model is analyzed and simpli-fied.an information transmission strategy is proposed the control approach that integrates feedforward and feedback mechanisms,with the feedforward component being the real-time speed of the leading drone.Simulation tests show that the strategy has superior to conventional P and PID controllers in response speed,stability,and overshoot.The multi-drone system of two quadrotor drones is constructed to carry out the formation flight experiments,the results show the effectiveness of the strategy.This strategy has a practical value and potential for engineering applications,providing a viable solution for the swarm control of rotary-wing drones.
关键词
速度前馈/无人机/编队控制/四旋翼/跟踪Key words
velocity feedforward/UAV/formation control/quadrotor/tracking引用本文复制引用
基金项目
山东省自然科学基金(ZR2020QF057)
出版年
2024
NETL
NSTL
万方数据