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首页> 外文期刊>Aerospace science and technology >Consensus-based cooperative control of parallel fixed-wing UAV formations via adaptive backstepping
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Consensus-based cooperative control of parallel fixed-wing UAV formations via adaptive backstepping

机译：基于共识的并行固定翼UAV形成的协商性控制通过自适应BackStepping

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The paper proposes a novel approach to control fixed-wing unmanned aerial vehicle (UAV) swarm to start and keep flying in a parallel formation of a specific geometry. The distinctive feature of this method is that it is infinitely scalable thanks to synthesizing decentralized cooperative control laws that are globally asymptotically stable. These laws use the architecture of leaderless consensus, in which each UAV communicates with the adjacent UAVs only. Unlike standard linear consensus, these formation controllers consider both the nonholonomic dynamics of fixed-wing UAV and the input constraints for the autopilot-UAV system, which enables the aircraft to take any initial position before the algorithms start running. Together, coordinated control laws generate vector field for cooperative rectilinear path following, a field that is non-uniform in direction and magnitude. The research further applies backstepping techniques to generate control inputs for a more realistic autopilot-UAV model, which is adjusted in view of the fact that the autopilot response to speed- and path-related input is naturally first-order. We have implemented adaptive parametric self-tuning in autopilot-UAV models, as flight can affect the dynamics of any UAV. As a result, each UAV takes its own spot in a parallel formation, whereby each aircraft's speed asymptotically tends to the final cruising speed of the formation while the course angle tends to final course angle, which helps keep the formation stable and its geometry precise. The effectiveness of the proposed approach has been tested in MATLAB/Simulink using six-DOF 12-state non-linear fixed-wing UAV models. (C) 2020 Elsevier Masson SAS. All rights reserved.
机译：本文提出了一种新颖的方法来控制固定翼无人驾驶飞行器（UAV）群开始并继续飞行特定几何形状的平行形成。这种方法的独特特征是，由于合成了全球渐近稳定的分散性协作控制法，它具有无限的可扩展性。这些法律使用无线共识的架构，其中每个UAV仅与相邻的无人机通信。与标准的线性共识不同，这些形成控制器考虑固定翼UAV的非完整动态和自动驾驶仪-UAV系统的输入约束，使飞机能够在算法开始运行之前采用任何初始位置。协调控制法在一起，为协同直线的路径生成矢量字段，其方向和幅度不均匀。该研究进一步适用于对更现实的AutoPilot-UAV模型来生成控制输入的反向插入技术，这是考虑到自动驾驶仪与速度和路径相关的输入的事实是一流的。我们在AutoPilot-UAV模型中实施了自适应参数自我调整，因为航班可以影响任何UAV的动态。结果，每个无人机在平行地层中采取自己的光斑，从而每次飞机的速度渐近地倾向于形成的最终巡航速度，而课程角度趋于最终课程角度，这有助于保持形成稳定的形成稳定及其几何形状。采用六-DOF 12状态非线性固定翼UAV模型在Matlab / Simulink中测试了所提出的方法的有效性。 （c）2020 Elsevier Masson SAS。版权所有。

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