基于分布式扩张状态观测器的多飞行器编队控制

doi:10.16183/j.cnki.jsjtu.2024.205

上海交通大学学报 ›› 2024, Vol. 58 ›› Issue (11): 1798-1804.doi: 10.16183/j.cnki.jsjtu.2024.205

基于分布式扩张状态观测器的多飞行器编队控制

王先至, 李国飞(), 常亚南

西北工业大学航天学院,西安 710072

收稿日期:2024-06-05 修回日期:2024-07-23 接受日期:2024-07-25 出版日期:2024-11-28 发布日期:2024-12-02
通讯作者: 李国飞,副教授;E-mail:liguofei1@126.com.
作者简介:王先至(2001—),硕士生,从事协同制导与编队控制研究.
基金资助:
国家自然科学基金(62373304);中国科协青年人才托举工程项目(YESS20230443);陕西秦创原引用高层次创新创业人才项目(QCYRCXM-2022-136);陕西省科协青年人才托举计划(XXJS202218)

Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles

WANG Xianzhi, LI Guofei(), CHANG Ya’nan

School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, China

Received:2024-06-05 Revised:2024-07-23 Accepted:2024-07-25 Online:2024-11-28 Published:2024-12-02

摘要/Abstract

摘要：

为使飞行器群按照期望队形飞行,提出“领导-跟随”架构下的编队控制方法.首先设计分布式扩张状态观测器,从而跟随者能估计虚拟领导者的位置与速度;然后根据观测器输出以及期望队形中的相对位置关系,计算跟随者的期望位置,给出基于动态面控制的位置跟踪控制律,跟随者可跟踪期望位置.借助Lyapunov稳定性理论证明了所设计方法的稳定性,并通过数值仿真验证了其有效性.分布式扩张状态观测器仅需获取虚拟领导者位置的观测值即可同时估计虚拟领导者的位置与速度;该编队控制方法可使队形在空间中的指向与虚拟领导者速度保持一致.

关键词: 编队控制, 坐标变换, 分布式扩张状态观测器, 动态面控制

Abstract:

In order that the flight vehicle group could form the expected formation, the “leader-follower” formation control law is investigated. First, the distributed extended state observer (DESO) is designed such that the followers could estimate the virtual leader’s position and velocity. Then, the expected positions of the followers are calculated based on the observer outputs and the nominal formation configuration. A dynamic surface control-based position tracking control law is designed for the followers to track the expected positions. Based on the Lyapunov theory, the stability of the proposed method is proved, while numerical simulations validate the effectiveness. The DESO could estimate both the virtual leader’s position and velocity via only the position observations. The method proposed guarantees that the orientation of the formation is consistent with the direction of the virtual leader’s velocity.

Key words: formation control, coordinate transformation, distributed extended state observer (DESO), dynamic surface control

中图分类号:

TP273

王先至, 李国飞, 常亚南. 基于分布式扩张状态观测器的多飞行器编队控制[J]. 上海交通大学学报, 2024, 58(11): 1798-1804.

WANG Xianzhi, LI Guofei, CHANG Ya’nan. Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles[J]. Journal of Shanghai Jiao Tong University, 2024, 58(11): 1798-1804.

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节点i	p_i(0)/m	V_i(0)/(m·s^-1)	θ_i(0)/rad	ψ_i(0)/rad
1	[70 140 75]^T	100	-0.1	-0.60
2	[75 160 -20]^T	110	0	-0.79
3	[-25 130 -35]^T	100	0.1	-0.90
4	[-25 150 75]^T	100	0	-0.79

基于分布式扩张状态观测器的多飞行器编队控制

Distributed Extended State Observer-Based Formation Control of Multiple Flight Vehicles

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