TY - GEN
T1 - Heterogeneous UAV Tracking Cooperative Control with Distributed Adaptive Consensus
AU - He, Yupeng
AU - Zhou, Deyun
AU - Liu, Yang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper proposes a distributed adaptive heterogeneous UAV cluster cooperative control system, which designs the unmanned system as a multi-level architecture. A consensus control algorithm for linear systems and a control model for nonlinear systems are combined. Considering the cluster formation control protocol of both quadrotor and fixed-wing aircraft dynamics models, a nonlinear model predictive control and an adaptive LQR flight controller are presented. A consistent control trajectory generation algorithm considering the dynamic constraints of heterogeneous UAVs is proposed, and the conditions for the cooperative control layer to achieve consistent control are given. Finally, combined with model predictive control and linear quadratic regulatory control, the proposed heterogeneous UAV cluster control system is simulated and analyzed.
AB - This paper proposes a distributed adaptive heterogeneous UAV cluster cooperative control system, which designs the unmanned system as a multi-level architecture. A consensus control algorithm for linear systems and a control model for nonlinear systems are combined. Considering the cluster formation control protocol of both quadrotor and fixed-wing aircraft dynamics models, a nonlinear model predictive control and an adaptive LQR flight controller are presented. A consistent control trajectory generation algorithm considering the dynamic constraints of heterogeneous UAVs is proposed, and the conditions for the cooperative control layer to achieve consistent control are given. Finally, combined with model predictive control and linear quadratic regulatory control, the proposed heterogeneous UAV cluster control system is simulated and analyzed.
KW - Consensus
KW - Cooperative Control system
KW - Distributed Adaptive algorithm
KW - Heterogeneous system
KW - unmanned system
UR - http://www.scopus.com/inward/record.url?scp=85189342011&partnerID=8YFLogxK
U2 - 10.1109/CAC59555.2023.10450786
DO - 10.1109/CAC59555.2023.10450786
M3 - 会议稿件
AN - SCOPUS:85189342011
T3 - Proceedings - 2023 China Automation Congress, CAC 2023
SP - 9079
EP - 9084
BT - Proceedings - 2023 China Automation Congress, CAC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 China Automation Congress, CAC 2023
Y2 - 17 November 2023 through 19 November 2023
ER -