基于误差模型的多约束鲁棒编队控制器的设计

Danghui Yan, Weiguo Zhang, Hang Chen

科研成果: 期刊稿件文章同行评审

摘要

UAVs formation is a complex nonlinear system. Although quadrotor has many advantages, its dynamics model is nonlinear, coupled, and under driven. For model-based controller design, physical constraints, model uncertainties and external disturbances significantly deteriorate control performance. Therefore, a multi-constraints MPC strategy based on error model is proposed for the quadrotor formation. Firstly, a 3D model for quadrotor is established by using the Lagrange-Euler formulation, in which the model is divided into RS and TS. The corresponding multi-constraint MPC is designed for the two subsystems respectively. The tracking errors caused by external disturbances can be eliminated because of the integrator embedded in the augmented model. Comparing with RMPC, by making reasonable modifications to the cost function, the asymptotic stability of the open loop and the closed-loop subsystem can be ensured by MMPC. Moreover, the stability analysis of the above-mentioned algorithm is carried out. The simulation results show that the controller of the formation can not only achieve good path tracking, but also robustness to the multiple constraints and disturbances.

投稿的翻译标题Design of multi-constraint robust formation controller based on error model
源语言繁体中文
页(从-至)1012-1020
页数9
期刊Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
40
5
DOI
出版状态已出版 - 10月 2022

关键词

  • disturbance
  • formation
  • MPC
  • multi-constraints
  • multi-UAVs

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