带有时延的多无人机编队同步控制的策略研究

摘要

For the Synchronization approach to formation control in multi-UAVs with time delay,the control strategy of torque compensation in UAV formation based on the control idea of Lagrange equation is proposed.Firstly,the double PID control system structureof four rotorcraft UAV is built.Secondly,the Multi-UAV formation is described by the super elliptic equations and the control torque is designed based on the relation between position error and synchronization error.Finally,the control impact factor of UAV is analyzed and the performance of the control strategy of three drones formation in synchronous speed,pitching angle and yaw angle is analyzed.The experimental results show that the UAV performance and stability would be reduced due to the time delay;The synchronous execution ability and stability of the formation are improved effectively by the control strategy.%针对带有时延性的多无人机编队同步控制问题,采用拉格朗日方程的控制思想建立无人机编队控制力矩补偿方程策略.首先,建立四旋翼无人机双PID控制系统结构.其次,采用超椭圆方程描述多无人机编队队形,同时根据位置误差与同步误差之间关系设计出的时延性控制力矩.最后,分析了时延性对无人机控制影响以及时延性控制策略对3架无人机编队的同步速度、俯仰角、偏航角性能影响,实验结果表明,时间延迟降低了无人机性能及稳定性;时延性控制策略有效的提升了编队的同步执行能力及稳定性.