多无人机协同控制方法及应用研究
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摘要
多无人机集群作战是未来战争的重要形式。作为集群作战中的关键技术,协同控制有着极为广泛的应用,例如多无人机编队飞行、协同侦查与集群攻击等。简述了多无人机集群作战的发展历程,归纳了集群作战过程中的关键技术,给出了协同控制方法的分类与体系结构。然后,从编队控制、合围控制、跟踪控制3个方面,总结了近年来国内外关于协同控制方法的研究成果。重点介绍了编队控制中的四种典型方法及相关应用,分析了各类编队控制方法的优缺点。最后对多无人机协同控制方法的未来发展方向进行了展望。
Cooperative combat for multiple unmanned aerial vehicles(UAVs)is the main combat mode in the future war.As the key technique,cooperative control has the potential applications in the multiple UAVs formation flight,cooperative detection,and cooperative attack,etc..This paper briefly describes the development of multi-UAVs cooperative combat,summarizes the key technologies in multi-UAVs cooperative combat,and presents the classification and architecture of cooperative control methods.Then,the research results of cooperative control in recent years are introduced,which includes the research of formation control,containment control and tracking control.Four typical methods and related applications about formation control are highlighted,and the advantages and disadvantages of various formation control methods are presented.Finally,summary and prospects of multi-UAVs cooperative control method are given.
Cooperative combat for multiple unmanned aerial vehicles(UAVs)is the main combat mode in the future war.As the key technique,cooperative control has the potential applications in the multiple UAVs formation flight,cooperative detection,and cooperative attack,etc..This paper briefly describes the development of multi-UAVs cooperative combat,summarizes the key technologies in multi-UAVs cooperative combat,and presents the classification and architecture of cooperative control methods.Then,the research results of cooperative control in recent years are introduced,which includes the research of formation control,containment control and tracking control.Four typical methods and related applications about formation control are highlighted,and the advantages and disadvantages of various formation control methods are presented.Finally,summary and prospects of multi-UAVs cooperative control method are given.
引文
[1]许晓伟,赖际舟,吕品,等.多无人机协同导航技术研究现状及进展[J].导航定位与授时,2017,4(4):1-9.
[2]任章,于江龙.多临近空间拦截器编队拦截自主协同制导控制技术研究[J].导航定位与授时,2018,5(2):1-6.
[3]Giulietti F,Innocenti M,Napolitano M,et al.Dynamic and control issues of formation flight[J].Aerospace Science&Technology,2005,9(1):65-71.
[4]Kim S,Kim Y.Optimum design of three-dimensional behavioural decentralized controller for UAV formation flight[J].Engineering Optimization,2009,41(3):199-224.
[5]邱华鑫,段海滨,范彦铭.基于鸽群行为机制的多无人机自主编队[J].控制理论与应用,2015,32(10):1298-1304.
[6]Li N,Liu H.Formation UAV flight control using virtual structure and motion synchronization[C]//IEEE American Control Conference,2008:1782-1787.
[7]邵壮,祝小平,周洲,等.无人机编队机动飞行时的队形保持反馈控制[J].西北工业大学学报,2015(1):26-32.
[8]邵壮,祝小平,周洲,等.三维动态环境下多无人机编队分布式保持控制[J].控制与决策,2016,31(6):1065-1072.
[9]朱旭,闫茂德,张昌利,等.基于改进人工势场的无人机编队防碰撞控制方法[J].哈尔滨工程大学学报,2017,38(6):961-968.
[10]赵刚,黄席樾.障碍空间中的飞行器编队与集群控制研究[J].系统仿真学报,2009,21(2):92-96.
[11]曲成刚,曹喜滨,张泽旭.人工势场和虚拟领航者结合的多智能体编队[J].哈尔滨工业大学学报,2014,46(5):1-5.
[12]Mahmood A,Kim Y.Leader-following formation control of quadcopters with heading synchronization[J].Aerospace Science&Technology,2015,47:68-74.
[13]Dehghani M A,Menhaj M B.Communication free leader-follower formation control of unmanned aircraft systems[J].Robotics&Autonomous Systems,2016,80:69-75.
[14]Dehghani M A,Menhaj M B.Integral sliding mode formation control of fixed-wing unmanned aircraft using seeker as a relative measurement system[J].Aerospace Science&Technology,2016,58:318-327.
[15]Pan Y J,Werner H,Huang Z,et al.Distributed cooperative control of leader-follower multi-agent systems under packet dropouts for quadcopters[J].Systems&Control Letters,2017,106:47-57.
[16]Abdessameud A,Tayebi A.Formation control of VTOL unmanned aerial vehicles with communication delays[J].Automatica,2011,47(11):2383-2394.
[17]Qi Y,Zhou S,Kang Y,et al.Formation control for unmanned aerial vehicles with directed and switching topologies[J].International Journal of Aerospace Engineering,2016,46:26-36.
[18]Xue R,Song J,Cai G.Distributed formation flight control of multi-UAV system with nonuniform time-delays and jointly connected topologies[J].Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,2016,230(10):1871-1881.
[19]Zhu X,Zhang X,Qu Y.Consensus-based three-dimensional multi-UAV formation control strategy with high precision[J].Frontiers of Information Technology&Electronic Engineering,2017,18(7):968-977.
[20]Gu Y,Seanor B,Campa G,et al.Design and flighttesting evaluation of formation control laws[J].IEEE Transactions on Control Systems Technology,2006,14(6):1105-1112.
[21]Mercado D A,Castro R,Lozano R.Quadrotors flight formation control using a leader-follower approach[C]//Proceedings of the 2013 European Control Conference(ECC).IEEE,2013:3858-3863.
[22]Kushleyev A,Mellinger D,Powers C,et al.Towards a swarm of agile micro quadrotors[J].Autonomous Robots,2013,35(4):287-300.
[23]Dydek Z T,Annaswamy A M,Lavretsky E.Adaptive configuration control of multiple UAVs[J].Control Engineering Practice,2013,21(8):1043-1052.
[24]Yun B,Chen B M,Lum K Y,et al.Design and implementation of a leader-follower cooperative control system for unmanned helicopters[J].Journal of Control Theory and Applications,2010,8(1):61-68.
[25]Kushleyev A,Mellinger D,Powers C,et al.Towards a swarm of agile micro quadrotors[J].Autonomous Robots,2013,35(4):287-300.
[26]Dong X,Yu B,Shi Z,et al.Time-varying formation control for unmanned aerial vehicles:Theories andapplications[J].IEEE Transactions on Control Systems Technology,2014,23(1):340-348.
[27]Ji M,Ferrari-Trecate G,Egerstedt M,et al.Containment control in mobile networks[J].IEEE Transactions on Automatic Control,2008,53(8):1972-1975.
[28]余瑶,任昊,张兰,等.有向图下非线性无人机群自适应合围控制[J].控制理论与应用,2015,32(10):1384-1391.
[29]Yu Z,Zhang Y,Qu Y,et al.Distributed fault-tolerant containment control for multi-UAVs with actuator and sensor faults[C]//Proceedings of International Conference on Unmanned Aircraft Systems.IEEE,2017:753-758.
[30]Han L,Dong X,Li Q,et al.Formation-containment control for second-order multi-agent systems with time-varying delays[J].Neurocomputing,2016,218:439-447.
[31]Yu B,Dong X,Shi Z,et al.Formation-containment control for unmanned aerial vehicle swarm system[C]//Proceedings of 2014 33rd Chinese Control Conference(CCC).IEEE,2014:1517-1523.
[32]Zhu S,Wang D,Low C B.Cooperative control of multiple UAVs for moving source seeking[J].Journal of Intelligent&Robotic Systems,2013,70(1-4):293-301.
[33]Zhang M,Liu H.Cooperative tracking a moving target using multiple fixed-wing UAVs[J].Journal of Intelligent&Robotic Systems,2016,81(3-4):505-529.
[34]Han L,Dong X,Li Q,et al.Formation tracking control for time-delayed multi-agent systems with second-order dynamics[J].Chinese Journal of Aeronautics,2017,30(1):348-357.
[35]Dong X,Zhou Y,Ren Z,et al.Time-varying formation tracking for second-order multi-agent systems subjected to switching topologies with application to quadrotor formation flying[J].IEEE Transactions on Industrial Electronics,2017,64(6):5014-5024.
[2]任章,于江龙.多临近空间拦截器编队拦截自主协同制导控制技术研究[J].导航定位与授时,2018,5(2):1-6.
[3]Giulietti F,Innocenti M,Napolitano M,et al.Dynamic and control issues of formation flight[J].Aerospace Science&Technology,2005,9(1):65-71.
[4]Kim S,Kim Y.Optimum design of three-dimensional behavioural decentralized controller for UAV formation flight[J].Engineering Optimization,2009,41(3):199-224.
[5]邱华鑫,段海滨,范彦铭.基于鸽群行为机制的多无人机自主编队[J].控制理论与应用,2015,32(10):1298-1304.
[6]Li N,Liu H.Formation UAV flight control using virtual structure and motion synchronization[C]//IEEE American Control Conference,2008:1782-1787.
[7]邵壮,祝小平,周洲,等.无人机编队机动飞行时的队形保持反馈控制[J].西北工业大学学报,2015(1):26-32.
[8]邵壮,祝小平,周洲,等.三维动态环境下多无人机编队分布式保持控制[J].控制与决策,2016,31(6):1065-1072.
[9]朱旭,闫茂德,张昌利,等.基于改进人工势场的无人机编队防碰撞控制方法[J].哈尔滨工程大学学报,2017,38(6):961-968.
[10]赵刚,黄席樾.障碍空间中的飞行器编队与集群控制研究[J].系统仿真学报,2009,21(2):92-96.
[11]曲成刚,曹喜滨,张泽旭.人工势场和虚拟领航者结合的多智能体编队[J].哈尔滨工业大学学报,2014,46(5):1-5.
[12]Mahmood A,Kim Y.Leader-following formation control of quadcopters with heading synchronization[J].Aerospace Science&Technology,2015,47:68-74.
[13]Dehghani M A,Menhaj M B.Communication free leader-follower formation control of unmanned aircraft systems[J].Robotics&Autonomous Systems,2016,80:69-75.
[14]Dehghani M A,Menhaj M B.Integral sliding mode formation control of fixed-wing unmanned aircraft using seeker as a relative measurement system[J].Aerospace Science&Technology,2016,58:318-327.
[15]Pan Y J,Werner H,Huang Z,et al.Distributed cooperative control of leader-follower multi-agent systems under packet dropouts for quadcopters[J].Systems&Control Letters,2017,106:47-57.
[16]Abdessameud A,Tayebi A.Formation control of VTOL unmanned aerial vehicles with communication delays[J].Automatica,2011,47(11):2383-2394.
[17]Qi Y,Zhou S,Kang Y,et al.Formation control for unmanned aerial vehicles with directed and switching topologies[J].International Journal of Aerospace Engineering,2016,46:26-36.
[18]Xue R,Song J,Cai G.Distributed formation flight control of multi-UAV system with nonuniform time-delays and jointly connected topologies[J].Proceedings of the Institution of Mechanical Engineers,Part G:Journal of Aerospace Engineering,2016,230(10):1871-1881.
[19]Zhu X,Zhang X,Qu Y.Consensus-based three-dimensional multi-UAV formation control strategy with high precision[J].Frontiers of Information Technology&Electronic Engineering,2017,18(7):968-977.
[20]Gu Y,Seanor B,Campa G,et al.Design and flighttesting evaluation of formation control laws[J].IEEE Transactions on Control Systems Technology,2006,14(6):1105-1112.
[21]Mercado D A,Castro R,Lozano R.Quadrotors flight formation control using a leader-follower approach[C]//Proceedings of the 2013 European Control Conference(ECC).IEEE,2013:3858-3863.
[22]Kushleyev A,Mellinger D,Powers C,et al.Towards a swarm of agile micro quadrotors[J].Autonomous Robots,2013,35(4):287-300.
[23]Dydek Z T,Annaswamy A M,Lavretsky E.Adaptive configuration control of multiple UAVs[J].Control Engineering Practice,2013,21(8):1043-1052.
[24]Yun B,Chen B M,Lum K Y,et al.Design and implementation of a leader-follower cooperative control system for unmanned helicopters[J].Journal of Control Theory and Applications,2010,8(1):61-68.
[25]Kushleyev A,Mellinger D,Powers C,et al.Towards a swarm of agile micro quadrotors[J].Autonomous Robots,2013,35(4):287-300.
[26]Dong X,Yu B,Shi Z,et al.Time-varying formation control for unmanned aerial vehicles:Theories andapplications[J].IEEE Transactions on Control Systems Technology,2014,23(1):340-348.
[27]Ji M,Ferrari-Trecate G,Egerstedt M,et al.Containment control in mobile networks[J].IEEE Transactions on Automatic Control,2008,53(8):1972-1975.
[28]余瑶,任昊,张兰,等.有向图下非线性无人机群自适应合围控制[J].控制理论与应用,2015,32(10):1384-1391.
[29]Yu Z,Zhang Y,Qu Y,et al.Distributed fault-tolerant containment control for multi-UAVs with actuator and sensor faults[C]//Proceedings of International Conference on Unmanned Aircraft Systems.IEEE,2017:753-758.
[30]Han L,Dong X,Li Q,et al.Formation-containment control for second-order multi-agent systems with time-varying delays[J].Neurocomputing,2016,218:439-447.
[31]Yu B,Dong X,Shi Z,et al.Formation-containment control for unmanned aerial vehicle swarm system[C]//Proceedings of 2014 33rd Chinese Control Conference(CCC).IEEE,2014:1517-1523.
[32]Zhu S,Wang D,Low C B.Cooperative control of multiple UAVs for moving source seeking[J].Journal of Intelligent&Robotic Systems,2013,70(1-4):293-301.
[33]Zhang M,Liu H.Cooperative tracking a moving target using multiple fixed-wing UAVs[J].Journal of Intelligent&Robotic Systems,2016,81(3-4):505-529.
[34]Han L,Dong X,Li Q,et al.Formation tracking control for time-delayed multi-agent systems with second-order dynamics[J].Chinese Journal of Aeronautics,2017,30(1):348-357.
[35]Dong X,Zhou Y,Ren Z,et al.Time-varying formation tracking for second-order multi-agent systems subjected to switching topologies with application to quadrotor formation flying[J].IEEE Transactions on Industrial Electronics,2017,64(6):5014-5024.