下三角型异构无人机群鲁棒协调控制

项目名称： 下三角型异构无人机群鲁棒协调控制

项目编号： No.61473324

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化学科

项目作者： 余瑶

作者单位： 北京科技大学

项目金额： 60万元

中文摘要： 无人机群协调控制在军事和民用领域均具有广泛的应用前景。由于无人机具有下三角型、非线性、多变量、欠驱动、耦合、不确定性等特点，目前国内外仅完成了无人机群小机动编队飞行实验，限制了其应用范围。本项目拟在无人机自主飞行研究基础上，研究下三角型异构无人机群的鲁棒协调控制方法。探求下三角型异构无人机群可一致性条件、可编队条件、可围捕条件及可合围条件与个体动力学特性、网络拓扑结构、性能要求的内在联系，基于信号补偿方法设计能抑制扰动气流的鲁棒控制方法，实现下三角型异构无人机群鲁棒协调控制。相关成果可应用于强风扰动下的大机动紧密编队场合，如对目标区域的饱和式攻击、大机动逃逸目标的围捕等。

中文关键词： 协调控制；多智能体系统；一致性；编队控制；鲁棒控制

英文摘要： Cooperative control for multi-UAV systems has broad application prospects in both military and civilian fields. For the model of UAV systems is strict-feedback form, nonlinear, multi-variable, underactuated, strongly coupled and uncertain, formation flight in aggressive maneuvers is not completed at the moment, which limits its application. Based on the research of UAV flight control problems, robust cooperative control methods for strict-feedback form heterogenous multi-UAV systems will be proposed. The relationship between consensus, formation, containment and target capturing for strict-feedback form heterogenous multi-UAV systems and dynamic characteristics, communication topology, performance requirements will be investigated. Baesed on signal compensation method, robust control law, which can suppress the disturbance of wind, will be designed, so that cooperative control of strict-feedback form heterogeneous multi-UAV systems can be achieved. The results can be applied to close formation flight with aggressive maneuvers in strong wind situation, such as saturation attack on the target area, formation capturing of escaping target in aggressive maneuvers, and so on.

英文关键词： Cooperative Control;Multi-agent Systems;Consensus;Formation Control;Robust Control