TY - JOUR
T1 - 基于误差模型的多约束鲁棒编队控制器的设计
AU - Yan, Danghui
AU - Zhang, Weiguo
AU - Chen, Hang
N1 - Publisher Copyright:
©2022 Journal of Northwestern Polytechnical University.
PY - 2022/10
Y1 - 2022/10
N2 - 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.
AB - 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.
KW - disturbance
KW - formation
KW - MPC
KW - multi-constraints
KW - multi-UAVs
UR - http://www.scopus.com/inward/record.url?scp=85143904121&partnerID=8YFLogxK
U2 - 10.1051/jnwpu/20224051012
DO - 10.1051/jnwpu/20224051012
M3 - 文章
AN - SCOPUS:85143904121
SN - 1000-2758
VL - 40
SP - 1012
EP - 1020
JO - Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
JF - Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University
IS - 5
ER -