通讯时延和外部干扰下多无人机事件触发滑模编队控制

doi:10.3969/j.issn.1672-6952.2022.04.013

辽宁石油化工大学学报 ›› 2022, Vol. 42 ›› Issue (4): 77-86.DOI: 10.3969/j.issn.1672-6952.2022.04.013

• 信息与控制工程（复杂系统智能控制专栏） • 上一篇下一篇

通讯时延和外部干扰下多无人机事件触发滑模编队控制

冀明飞(), 李涛(), 廖佳文, 杨欣

南京航空航天大学自动化学院，江苏南京 210016

收稿日期:2022-03-22 修回日期:2022-04-16 出版日期:2022-08-25 发布日期:2022-09-26
通讯作者: 李涛
作者简介:冀明飞（1995⁃），男，硕士研究生，从事多无人机编队控制方面的研究；E⁃mail：linfei@nuaa.edu.cn。
基金资助:
国家自然科学基金项目(62073164);南京航空航天大学创新计划项目(xcxjh20210323)

Sliding Mode Formation Control of UAVs Based on Event⁃Triggered under Delay and Disturbance

Mingfei Ji(), Tao Li(), Jiawen Liao, Xin Yang

College of Automation Engineering，Nanjing University of Aeronautics and Astronautics，Nanjing Jiangsu 210016，China

Received:2022-03-22 Revised:2022-04-16 Published:2022-08-25 Online:2022-09-26
Contact: Tao Li

摘要/Abstract

摘要：

针对多无人机编队系统，采用了内外环控制策略。首先，在考虑通讯时延和有界外部干扰的情况下，针对位置子系统提出了一种基于记忆事件触发机制的滑模控制方法。针对所建立的无人机二阶模型，采用领航?跟随法实现期望飞行编队。其次，为降低编队过程中的通讯负荷，设计了基于输入反馈和跟踪误差的新型自适应记忆事件触发机制，针对由此产生的输入通讯时延和系统所受的外部干扰问题，设计了滑模控制器，保证了控制性能并抑制了通讯时延和有界干扰的影响。再次，应用Lyapunov理论和 H_∞ 控制理论完成了闭环系统稳定性证明，并且给出了便于滑模控制器增益和触发参数求解的策略。从次，基于所获得的虚拟控制量，针对姿态子系统设计了跟踪控制器。最后，通过仿真验证了所提方法的有效性。

关键词: 多无人机编队, 通讯时延, 有界干扰, 记忆事件触发, 滑模控制

Abstract:

In this work, the inner and outer loop control strategy is adopted for the unmanned aerial vehicles (UAVs) formation system. Firstly, a sliding mode control method based on memory event?triggered mechanism (METM) is proposed for the position subsystem under delay and disturbance. The second?order model is established for each UAV, and the leader?follower framework is adopted to realize the desired flight formation. Secondly, an adaptive METM is proposed to alleviate the transmission burden, in which control input feedback is introduced. For the resulting communication delay of the control input in the proposed METM and the external disturbance to the system, a sliding mode controller is designed, which maintains desirable control performance and solves the influence of communication delay and bounded disturbance to a certain extent. Thirdly, the stability of the closed?loop system is proved by applying Lyapunov theory and H_∞ control theory, and a method that facilitates solving controller gain and triggering parameter through a series of linear matrix inequalities (LMIs) is proposed. Moreover, based on the obtained virtual control quantity, a tracking controller is designed for the attitude subsystem. Finally, a simulated example is exploited to verify the effectiveness of the proposed method.

Key words: UAVs formation, Communication delay, Bounded disturbance, Memory event?triggered mechanism, Sliding mode control

中图分类号:

TP13

冀明飞, 李涛, 廖佳文, 杨欣. 通讯时延和外部干扰下多无人机事件触发滑模编队控制[J]. 辽宁石油化工大学学报, 2022, 42(4): 77-86.

Mingfei Ji, Tao Li, Jiawen Liao, Xin Yang. Sliding Mode Formation Control of UAVs Based on Event⁃Triggered under Delay and Disturbance[J]. Journal of Liaoning Petrochemical University, 2022, 42(4): 77-86.

图/表 8

图1 无人机编队通信拓扑图

表1 无人机的初始状态

无人机编号	$x i (t)$
UAV $0$	$100.0 100.0 50.0 50.0 0.6 0 T$
UAV $1$	$90.0 85.0 54.0 53.0 1.6 2.0 T$
UAV $2$	$135.0 145.0 70.0 51.0 2.6 1.0 T$
UAV $3$	$72.0 77.0 40.0 54.0 - 0.4 - 2.0 T$
UAV $4$	$90.0 72.0 35.0 51.0 - 1.4 2.0 T$

表1 无人机的初始状态

无人机编号	$x i (t)$
UAV $0$	$100.0 100.0 50.0 50.0 0.6 0 T$
UAV $1$	$90.0 85.0 54.0 53.0 1.6 2.0 T$
UAV $2$	$135.0 145.0 70.0 51.0 2.6 1.0 T$
UAV $3$	$72.0 77.0 40.0 54.0 - 0.4 - 2.0 T$
UAV $4$	$90.0 72.0 35.0 51.0 - 1.4 2.0 T$

图2 跟随者无人机的位置跟踪误差

图3 UAV1的姿态跟踪误差

图4 无人机编队轨迹

图5 滑模面的变化曲线

图6 UAV1的记忆事件触发时间间隔

图7 时间触发机制下的位置跟踪误差

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通讯时延和外部干扰下多无人机事件触发滑模编队控制

Sliding Mode Formation Control of UAVs Based on Event⁃Triggered under Delay and Disturbance

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