多无人机同时到达的standoff跟踪控制

Standoff tracking control for simultaneous arrival of multiple UAVs

摘要:

为实现多无人机standoff目标跟踪与同时到达,提出了一种新的比例Lyapunov矢量场和基于τ耦合理论的协同速度控制器。首先,与其他的Lyapunov矢量场相比,比例Lyapunov矢量场中增加了一个可设置的参数,使得在跟踪过程中无人机能够在收敛速度和航向角速率限制之间取得平衡,最大限度的发挥无人机的性能；然后,通过进一步的理论分析得出参数越小,收敛速度越快,但是航向角速率越大。同时给出了在最大航向角速率限制下参数的选取方法,以保证获得较快的收敛速度。最后,为保证无人机能够从不同初始位置同时到达目标点,设计了基于τ耦合理论的协同速度控制律,该控制律不需要考虑实际的不规则飞行路径,只需要计算当前点到目标点的直线距离,避免了现有四维路径规划方法中路径积分复杂的问题,算法更加简单,更有利于工程实现。结果表明,通过数字仿真实例和硬件在环实验,验证了所提方法能够导引无人机同时到达目标点,并快速收敛到standoff半径,说明了该方法的有效性和优越性,且能够应用于工程实际。

Abstract:

In view of the problem of standoff target tracking and simultaneous arrival of multiple unmanned aerial vehicles (multi-UAVs), a new ratio Lyapunov vector field (RLVF) and a cooperative speed controller based on τ coupling theory were proposed. First, compared with other Lyapunov vector fields, a settable parameter was added to the new RLVF, so as to balance the convergence speed and heading rate limitation in the tracking process and thus maximize the performance of UAVs. Then, theoretical analysis showed that with smaller parameter, the convergence speed was faster, but the heading angular rate was higher. Besides, the parameter selection method under the limitation of maximum heading angular rate was proposed to realize a faster convergence speed. Finally, in order to ensure that the UAVs can reach the target point from different initial positions at the same time, a cooperative speed controller based on τ coupling theory was designed. Without coping with the actual irregular flight paths, the proposed controller only needs to calculate the straight-line distance from the current point to the target point, avoiding the complicated path integration problem in existing 4D path planning methods, and the algorithm is simpler, which is more conducive to engineering implementation. Results of digital simulation and hardware-in-loop experiment showed that by the proposed method, UAVs could achieve simultaneous arrival and fast convergence to the standoff radius, indicating the effectiveness and superiority of the method as well as its engineering implementation value.