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基于事件触发的旋翼无人机群领导跟随一致性

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针对多六旋翼无人机集群系统通信频律过高的问题,基于六旋翼无人机滑模控制的双环结构控制模型提出了一种基于事件触发的滑模控制方法.该模型由位置子系统和姿态子系统构成,其中位置子系统作为外环控制对象,姿态子系统则作为内环辅助控制对象.在位置子系统中,采用增加事件触发器的滑模控制器,通过引入滑模面和滑模变量的方式,实现对六旋翼无人机群的位置控制.通过Lyapunov稳定性定理对该控制策略下系统的稳定性进行了证明,并证明了不存在Zeno现象的情况.仿真实验结果表明,所提出的控制方案减少了多智能体通信对高频采样的依赖,可见该研究为六旋翼无人机在协同路径跟随方面的应用提供了有益的参考.
Leader-following Consensus of Multirotor Drone Swarm Via Event-triggered Control
The problem of high communication frequency in the multi-hexacopter unmanned aerial vehicle(UAV)swarm system was addressed.A sliding mode control method based on event-triggering was proposed,utilizing a dual-loop structure control model based on sliding mode control of hexacopter UAVs.The model was comprised of a position subsystem and an attitude subsystem,with the position subsystem serving as the outer loop control object and the attitude subsystem serving as the inner loop auxiliary control object.In the position subsystem,position control of the hexacopter UAV swarm was achieved using a sliding mode controller with event triggers,which introduces sliding mode surfaces and sliding mode variables.The stability of the system under this control strategy was proven by the Lyapunov stability theorem,and the absence of the Zeno phenomenon was also demonstrated.Simulation results illustrate that the proposed control scheme reduces the reliance on high-frequency sampling of multi-agent communication.The research provides a useful reference for the application of hexacopter UAVs in collaborative path following.

hexacopter UAV swarmevent-triggered controlsliding mode controlconvergence rateswarm control

闫祁晨、沈剑、陈鹏云、赵晨博、王晓光、王恩友

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中北大学机电工程学院,太原 030051

中国兵器工业集团航空弹药研究院有限公司,哈尔滨 150001

中北大学航空宇航学院,太原 030051

六旋翼无人机群 事件触发控制 滑模控制 趋近律 集群控制

国家自然科学基金国家自然科学基金航空科学基金山西省自然科学基金山西省基础研究计划山西省基础研究计划山西省基础研究计划山西省重点研发计划

51909245620033142019020U0002201901D2112442021030212241872021030212401020210302123050202202020101001

2024

10.12404/j.issn.1671-1815.2303587

科学技术与工程
中国技术经济学会

科学技术与工程

CSTPCD北大核心
影响因子：0.338
ISSN：1671-1815
年,卷(期)：2024.24(17)
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