故障条件下基于同步DMPC的多无人机分组编队控制

doi:10.12305/j.issn.1001-506X.2025.07.28

摘要/Abstract

摘要：

针对故障条件下的多无人机分组编队控制问题, 提出一种基于同步分布式模型预测控制(distributed model predictive control, DMPC)的分组编队控制算法。首先, 建立考虑虚拟领导者的分组分层控制框架。接着, 对编队中的不可恢复故障进行建模, 并提出交互健康判别机制及“故障隔离”策略, 结合分组分层控制框架提出故障条件下分组编队控制方案。然后, 将故障模型与同步DMPC理论相结合, 根据“故障隔离”策略, 设计故障条件下的单组编队控制算法, 并进一步根据控制方案给出分组编队控制算法, 且基于Lyapunov理论证明控制算法下编队系统的稳定性。最后, 通过仿真验证所设计算法在故障条件下的有效性和优越性。

关键词: 无人机编队, 分组编队控制, 不可恢复故障, 同步分布式模型预测控制

Abstract:

Aiming at the grouping formation control (GFC) problem of multi-unmanned aerial vehicle (UAV) under fault conditions, a GFC algorithm based on synchronous distributed model predictive control (DMPC) is proposed. Firstly, a grouping and layering control framework considering virtual leaders is established. Secondly, the irreparable fault in the formation is modeled, and an interactive health discrimination mechanism and "fault isolation" strategy are proposed. Combining the grouping and layering control framework, a GFC scheme under fault conditions is further proposed. Thirdly, combining synchronous DMPC theory with the fault model, a single group formation control algorithm under fault conditions is designed based on the "fault isolation" strategy. Furthermore, a GFC algorithm is proposed according to the control scheme, and the stability of the formation system under the GFC algorithm is proved based on Lyapunov theory. Finally, the effectiveness and superiority of the designed algorithms under fault conditions are verified through simulation.

Key words: unmanned aerial vehicle (UAV) formation, grouping formation control, irreparable fault, synchronous distributed model predictive control (DMPC)

中图分类号:

V249

何云风, 史贤俊, 卢建华, 赵超轮, 赵国荣. 故障条件下基于同步DMPC的多无人机分组编队控制[J]. 系统工程与电子技术, 2025, 47(7): 2357-2370.

Yunfeng HE, Xianjun SHI, Jianhua LU, Chaolun ZHAO, Guorong ZHAO. Multi-UAV grouping formation control based on synchronous DMPC under fault conditions[J]. Systems Engineering and Electronics, 2025, 47(7): 2357-2370.

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变量	符号
最优控制输入/最优状态	$\boldsymbol{u}_i^(k+l \mid k) / \boldsymbol{z}_i^(k+l \mid k)$
可行控制输入/可行状态	$\boldsymbol{u}_i^{-}(k+l \mid k) / \boldsymbol{z}_i^{-}(k+l \mid k)$
假设控制输入/假设状态	$\hat{\boldsymbol{u}}_i(k+l \mid k) / \hat{\boldsymbol{z}}_i(k+l \mid k)$

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