具有性能预设的多机编队目标跟踪控制

doi:10.12305/j.issn.1001-506X.2021.04.25

系统工程与电子技术 ›› 2021, Vol. 43 ›› Issue (4): 1069-1079.doi: 10.12305/j.issn.1001-506X.2021.04.25

具有性能预设的多机编队目标跟踪控制

张毅¹(), 方国伟^2,*(), 杨秀霞²()

1. 海军航空大学航空作战勤务学院, 山东烟台 264001
2. 海军航空大学岸防兵学院, 山东烟台 264001

收稿日期:2020-06-16 出版日期:2021-03-25 发布日期:2021-03-31
通讯作者: 方国伟 E-mail:changyee@tom.com;18153505884@163.com;yangxiuxia@126.com
作者简介:张毅(1971-), 男, 副教授, 博士, 主要研究方向为飞行器导航、制导与控制。E-mail: changyee@tom.com|方国伟(1996-), 男, 硕士研究生, 主要研究方向为飞行器制导与控制。E-mail: 18153505884@163.com|杨秀霞(1975-), 女, 教授, 博士, 主要研究方向为飞行器智能控制及制导。E-mail: yangxiuxia@126.com
基金资助:
总装预研基金(6142055040203);山东省自然科学基金(ZR2020MF090)

Target tracking control of multi-UAV formation with prescribed performance guarantees

Yi ZHANG¹(), Guowei FANG^2,*(), Xiuxia YANG²()

1. College of Aviation Combat Service, Naval Aviation University, Yantai 264001, China
2. College of Coastal Defence, Naval Aviation University, Yantai 264001, China

Received:2020-06-16 Online:2021-03-25 Published:2021-03-31
Contact: Guowei FANG E-mail:changyee@tom.com;18153505884@163.com;yangxiuxia@126.com

摘要/Abstract

摘要：

针对无人机编队目标跟踪中性能不可控的问题, 提出了一种具有性能预设的分布式多机编队目标跟踪控制方法。首先提出一种基于运动参数组的编队队形描述与目标跟踪方法, 实现了编队的相位预设与队形控制; 其次利用误差变换方法将有性能约束的误差问题转换为无约束误差控制问题, 并给出了一致性预设性能控制律; 然后分别设计了指数型和预设时间型性能函数, 实现了同一控制律下对不同性能的控制, 保证了编队目标跟踪过程中的收敛时间以及瞬态和稳态性能。最后，仿真证实了无人机编队能够在预期设定的性能范围内实现编队队形控制, 并成功跟踪目标。

关键词: 目标跟踪, 预设性能控制, 编队控制, 一致性控制, 性能函数

Abstract:

Aiming at the problem of performance control in target tracking of unmanned aerial vehicle (UAV) formation, a distributed multi-UAV formation target tracking control method with performance prescribed is proposed. Firstly, a formation description and target tracking strategy based on motion parameters is proposed to realize the phase preset and formation control of formation. Secondly, the error problem with performance constraint is converted into unconstrained error control by the error transformation method, and the consensus prescribed performance control law is given. Then the exponential and prescribed time performance functions are designed respectively to realize the control of different performances under the same control law, which ensures the convergence time and the transient and steady state performance during the formation target tracking. The simulation results show that UAV formation control can be realized within the expected performance constraints and the target can be tracked.

Key words: target tracking, prescribed performance control, formation control, consensus control, performance function

中图分类号:

张毅, 方国伟, 杨秀霞. 具有性能预设的多机编队目标跟踪控制[J]. 系统工程与电子技术, 2021, 43(4): 1069-1079.

Yi ZHANG, Guowei FANG, Xiuxia YANG. Target tracking control of multi-UAV formation with prescribed performance guarantees[J]. Systems Engineering and Electronics, 2021, 43(4): 1069-1079.

图/表 6

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具有性能预设的多机编队目标跟踪控制

Target tracking control of multi-UAV formation with prescribed performance guarantees

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