无人机集群分组编队控制跟踪一体化设计

doi:10.12305/j.issn.1001-506X.2023.03.27

Abstract

Abstract:

Aiming at the group formation tracking and control problem of unmanned aerial vehicles (UAV) swarm system with Lipschitz nonlinear dynamics, a group formation cooperative control method based on consensus theory is proposed. Firstly, a cooperative control framework with hierarchical dual virtual structure is established, taking complex formation tasks such as multi-formation generation, maintenance and cooperative transformation in group and between groups as control objectives. Based on the formation description method of parameter group, trajectory guided UAV and reference UAV are set respectively in the hierarchical control framework, and the formation control law is designed by using the local motion information between UAVs, which overcomes the defect that the existing multi-formation control strategy is difficult to cooperate among formations. Secondly, the integrated control strategy of multi-formation control and target tracking is designed to ensure the accurate cooperative tracking of maneuvering targets while multi-formation is transformed cooperatively. Finally, the simulation results verify that the control algorithm designed in this paper can realize the tracking control of packet formation.

Key words: multi-formation control, consensus control, formation parameter group, group formation coordination, target tracking

CLC Number:

Yi ZHANG, Hao YU, Xiuxia YANG, Zijie JIANG. Integrated design of group formation control and tracking of UAV swarm[J]. Systems Engineering and Electronics, 2023, 45(3): 848-858.

Figures/Tables 20

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t/s	r_i	θ′_i
[0, 10)	40, 40, 40, 40	$ \frac{{\rm{ \mathsf{ π} }} }{6}, \frac{{5{\rm{ \mathsf{ π} }} }}{6}, \frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}$
[10, 20)	35, 30, 35, 30	$ \frac{{\rm{ \mathsf{ π} }} }{2}, {\rm{ \mathsf{ π} }} , \frac{{3{\rm{ \mathsf{ π} }} }}{2}, 2{\rm{ \mathsf{ π} }} $
[20, 30)	$ 35\sqrt 2 , 35\sqrt 2 , 35\sqrt 2 , 35\sqrt 2 $	$ \frac{{\rm{ \mathsf{ π} }} }{2}, {\rm{ \mathsf{ π} }} , \frac{{3{\rm{ \mathsf{ π} }} }}{2}, 2{\rm{ \mathsf{ π} }} $

t/s	r_i	θ₁	θ₂	θ₃	θ₄
[0, 10)	16, 16, 16, 16	$ {\frac{{\rm{ \mathsf{ π} }} }{6},\frac{{5{\rm{ \mathsf{ π} }} }}{6},\frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{6},\frac{{5{\rm{ \mathsf{ π} }} }}{6},\frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{6},\frac{{5{\rm{ \mathsf{ π} }} }}{6},\frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{6},\frac{{5{\rm{ \mathsf{ π} }} }}{6},\frac{{7{\rm{ \mathsf{ π} }} }}{6}, - \frac{{\rm{ \mathsf{ π} }} }{6}}$
[10, 20)	15, 15, 15, 15	$ {\frac{{\rm{ \mathsf{ π} }} }{4},\frac{{3{\rm{ \mathsf{ π} }} }}{4},\frac{{5{\rm{ \mathsf{ π} }} }}{4},\frac{{7{\rm{ \mathsf{ π} }} }}{4}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{4},\frac{{3{\rm{ \mathsf{ π} }} }}{4},\frac{{5{\rm{ \mathsf{ π} }} }}{4},\frac{{7{\rm{ \mathsf{ π} }} }}{4}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{4},\frac{{3{\rm{ \mathsf{ π} }} }}{4},\frac{{5{\rm{ \mathsf{ π} }} }}{4},\frac{{7{\rm{ \mathsf{ π} }} }}{4}}$	$ {\frac{{\rm{ \mathsf{ π} }} }{4},\frac{{3{\rm{ \mathsf{ π} }} }}{4},\frac{{5{\rm{ \mathsf{ π} }} }}{4},\frac{{7{\rm{ \mathsf{ π} }} }}{4}}$
[20, 30)	15, 25, 15, 25	$ {{\rm{ \mathsf{ π} }} ,{\rm{ \mathsf{ π} }} ,\frac{{3{\rm{ \mathsf{ π} }} }}{2},\frac{{3{\rm{ \mathsf{ π} }} }}{2}}$	$ {0,0,\frac{{3{\rm{ \mathsf{ π} }} }}{2},\frac{{3{\rm{ \mathsf{ π} }} }}{2}}$	$ {0,0,\frac{{\rm{ \mathsf{ π} }} }{2},\frac{{\rm{ \mathsf{ π} }} }{2}}$	$ {{\rm{ \mathsf{ π} }} ,{\rm{ \mathsf{ π} }} ,\frac{{\rm{ \mathsf{ π} }} }{2},\frac{{\rm{ \mathsf{ π} }} }{2}}$

方向	(v_min, v_max)	(a_min, a_max)
x	(－13.9, 13.9)	(－15, 15)
y	(－13.9, 13.9)	(－15, 15)
z	(－8, 9)	(－8.4, 9)

编号	x_i(0)/m	v_i(0)/(m/s)
领导者1	(35, 30, 0)	(4, －2, 5)
领导者2	(－30, 35, 0)	(3, 5, 5)
领导者3	(－32, －30, 0)	(4, －3, 2)
领导者4	(30, －32, 0)	(5, 4, 2)

编号	v_i(0)/(m/s)	x_i(0)/m	编号	v_i(0)/(m/s)	x_i(0)/m
UAV1	(0, －1.5)	(1, 3)	UAV7	(0, －1.5)	(6, 9)
UAV2	(－1.5, 0)	(5, 6)	UAV8	(－1.5, 0)	(5, 10)
UAV3	(1.0, －1.0)	(4, 8)	UAV9	(1.0, －1.0)	(12, 15)
UAV4	(0, －1.5)	(7, 9)	UAV10	(0, －1.5)	(14, 17)
UAV5	(－1.5, 0)	(11, 12)	UAV11	(－1.5, 0)	(15, 10)
UAV6	(1.0, －1.0)	(8, 10)	UAV12	(1.0, －1.0)	(20, 15)

Integrated design of group formation control and tracking of UAV swarm

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