基于极限环的四旋翼空间圆形编队控制
Finite-Time Spatial Circle Formation Control of Quadrotor Systems Based on Limit Cycle
摘要: 本文利用目标圆心和相邻四旋翼的位置信息，将感知受限的四旋翼编队系统，在空间中进行姿态一致的编队运动，形成期望的圆形编队队形。通过设计一种基于极限环的解耦控制方法，将问题解耦为高度控制、圆形收敛盘旋及个体间距调整，从而设计一种由高度控制、圆形汇聚控制和间距布局控制组成的分布式控制器，驱动四旋翼编队，形成空间圆形分布飞行。该控制器考虑了四旋翼之间的避碰问题，能在有限时间内达到指定高度，形成期望的圆形相对位置分布，并保持队形，围绕目标盘旋飞行。最后，由仿真和实验验证了该设计方法的有效性。
Abstract: In this paper, a quadrotor formation system with limited sensing ability is capable of moving unanimously to form the desired circular formation only using the position information of the target center of the circle and the neighboring quadrotors. By employing a method of decoupling control based on limit-cycle, the spatial circle formation is decoupled into three sub-problems: height control, circular convergence, and hovering together with the spacing distribution. Then a distributed controller composed of height control, circular convergence control, and spacing distribution control is designed to drive the quadrotors to form a circle in the space. This controller has the collision-avoidance among the quadrotors under consideration as well. It can constitute the desired circular distribution of relative position at the designated height and hold the desired formation when the quadrotors fly around the target. Lastly, the effectiveness of the control law is verified by simulations and experiments.
文章引用：徐伟, 万铧, 瞿余成, 蔡晨晓. 基于极限环的四旋翼空间圆形编队控制[J]. 动力系统与控制, 2020, 9(3): 139-151. https://doi.org/10.12677/DSC.2020.93013

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