摘要
针对无人机编队中的通信时延与工作引起的惯量变化,提出了一种基于时延状态观测器的旋翼无人机自适应编队控制方法。该方法利用编队结构参数确定队形,把编队控制转化为跟随无人机对虚拟无人机的轨迹跟踪;考虑精确的无人机动力学模型,并据此设计变时延状态观测器,对领航无人机的状态进行观测和补偿;针对补偿后的被控对象,设计自适应滑模编队控制器,并估计变负载工作状态下的质量和惯量。两组仿真结果表明:该方法对编队飞行中变质量变惯量行为的自适应误差小于6%,稳态时延状态的观测误差趋近0,体现出较好的控制精度和鲁棒性,具有很好的工程应用前景。
An adaptive formation control method of rotorcrafts based on delay state observers is proposed to solve the change of inertia and communication delay in formation of rotorcrafts.Firstly,the method uses parameters of formation structure to determine the formation,and transforms the formation control into tracking trajectories of virtual rotorcrafts.Then,a variable delay state observer is designed by considering the accurate dynamic model of rotorcraft system,and used to observe and compensate the leader’s state.An adaptive sliding mode controller is designed for the controlled object after compensation and used to control the follower and to estimate the mass and inertia under variable loads.Simulation results of the method show that the adaptive error of inertia changing behavior is less than 6%,and the observation error of the steady delay state tends to 0,suggesting that the method has high control accuracy and robustness,and has good engineering application prospects.
作者
徐振
李胜
陈庆伟
季蔡娟
XU Zhen;LI Sheng;CHEN Qingwei;JI Caijuan(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2019年第12期161-169,共9页
Journal of Xi'an Jiaotong University
基金
国家自然科学（61673217,61673219）
江苏省研究生科研与实践创新计划资助项目（KYCX19_0299）
