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An active disturbance rejection control guidance law based collision avoidance for unmanned aerial vehicles

机译：基于主动干扰抑制控制制导律的无人机避碰

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摘要

In this paper, an active disturbance rejection control guidance law is proposed for the problem of unmanned aerial vehicle (UAV) collision avoidance. First, a linear time-varying collision avoidance model based on a collision cone is established. Then the active disturbance rejection control guidance law is designed to ensure the security of UAV collision avoidance. In addition, the stability of a nonlinear active disturbance rejection system with an extended state observer is proved by the circle criterion, and the stability conditions are used to design the guidance coefficients. A simulation system based on a six-degrees-of-freedom UAV model is used to demonstrate the performance of this guidance law. The results conclusively demonstrate that this method can achieve collision avoidance in the presence of sensor noise, an unknown acceleration of an obstacle, and wind disturbance. Moreover, the manoeuvring range of collision avoidance using this method is narrower than the collision avoidance method based on nonlinear dynamic inversion guidance. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：针对无人飞行器（UAV）的避碰问题，提出了一种主动干扰抑制控制制导律。首先，建立了基于碰撞锥的线性时变碰撞避免模型。然后设计主动干扰抑制控制制导律，以确保避免无人机碰撞的安全性。此外，用圆准则证明了具有扩展状态观测器的非线性有源干扰抑制系统的稳定性，并用稳定性条件设计了导引系数。基于六自由度无人机模型的仿真系统用于演示该制导律的性能。结果最终证明，该方法可以在存在传感器噪声，未知的障碍物加速度和风干扰的情况下避免碰撞。此外，与基于非线性动态反演制导的防撞方法相比，该方法的防撞机动范围更窄。 （C）2018 Elsevier Masson SAS。版权所有。

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