无人机编队模糊约束分布式模型预测节能控制

doi:10.12305/j.issn.1001-506X.2024.03.28

Abstract

Abstract:

A distributed model predictive control algorithm with fuzzy constraints is proposed to solve the problem of energy saving in the formation of unmanned aerial vehicles (UAVs). Firstly, the state error space of the wingman relative to the leader is divided into multiple fuzzy sets by using the fuzzy mathematics theory, and the fuzzy constraints of speed and yaw angle commands are designed according to the state errors of each wingman. Secondly, the fuzzy constraints of each wingman relative to the leader are taken as its own constraints in the distributed model predictive control algorithm. By reducing the variation range of speed and yaw angle, the UAV can save energy in formation control. Finally, the proposed algorithm is verified by simulation through compared with the distributed model predictive control algorithm without fuzzy constraints. The statistical results show that this method can shorten the flight distance, reduce the cumulative value of speed and yaw angle change, and has the effect of saving energy.

Key words: unmanned aerial vehicles (UAVs) formation, distributed, fuzzy theory, model predictive control, energy-saving

CLC Number:

V249

Wenkang HAO, Qifeng CHEN. Distributed model predictive energy-saving control of UAVs formation with fuzzy constraints[J]. Systems Engineering and Electronics, 2024, 46(3): 1021-1030.

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References 30

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序号	位置/m	速度/(m/s)	航向角	期望位置/m
UAV0	(0, 0)	35	π/2	-
UAV1	(0, 230)	35	π/2	(0, 200)
UAV2	(240, 10)	35	π/2	(190, 61)
UAV3	(-340, 150)	35	π/2	(-190, 61)
UAV4	(40, 180)	35	π/2	(117, -161)
UAV5	(-320, -260)	35	π/2	(-117, -161)

指标和对象	最小差值	最大差值	平均差值	差值大于0的比例/%	DMPC的标准差	模糊约束DMPC的标准差
飞行路程(编队)	1.12	229.00	75.67	100	-	-
角度变化累计值(编队)	0.07	4.20	1.38	100	1.29	0.75
速度变化累计值(编队)	5.33	153.57	57.68	100	33.45	18.55
能量损耗(编队)	3.7×10⁵	2.75×10⁶	1.28×10⁶	100	-	-
飞行路程(单机)	-0.75	127.74	15.13	94.64	-	-
角度变化累计值(单机)	-0.14	1.41	0.28	93.06	0.59	0.34
速度变化累计值(单机)	-6.71	49.27	11.53	79.50	15.20	8.34
能量损耗(单机)	-42.23	9.59×10⁵	2.57×10⁵	99.80	-	-

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Distributed model predictive energy-saving control of UAVs formation with fuzzy constraints

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