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首页> 外文期刊>Aerospace science and technology >Distributed consensus algorithm for multiple parafoils in mass airdrop mission based on disturbance rejection
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Distributed consensus algorithm for multiple parafoils in mass airdrop mission based on disturbance rejection

机译：基于扰动抑制的大规模AITDOIL任务中多个平板的分布式共识算法

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摘要

The mass airdrop is essential for transporting massive supplies and military, especially for the regions where the ground transportation is underdeveloped. It is realized by multiple parafoils which exist strong nonlinearity. In this paper, in order to achieve the mass airdrop, we explore a distributed control algorithm for the multiple parafoils by active disturbance rejection control. The highlight is to realize the consensus of multiple parafoils under the complicated dynamic characteristics and hybrid disturbance. Firstly, an eight-degree of freedom model is designed, which is applied to accurately simulate the states of the parafoil. Based on the dynamical model, the distributed consensus algorithm is presented. An active disturbance rejection controller is designed to achieve the precise trajectory tracking for this nonlinear multi-agent system. The stability of the proposed control method is also proved. At last, comparing with the traditional centralized algorithm and PID controller, the detailed simulation results show that the distributed method has huge improvement on the control accuracy and convergence time. The consensus of the multiple parafoils is successfully realized in 132 s under the hybrid disturbance which is 50 s faster than PID controller. The average error of the proposed method is also 60% smaller than the traditional controller. In this condition, the feasibility and validity of the proposed method in the mass airdrop has been proved. (c) 2020 Elsevier Masson SAS. All rights reserved.
机译：大规模空中措施对于运输巨大用品和军队来说至关重要，特别是对于地面运输欠发达的地区。它是由存在强烈非线性的多个方案的实现。在本文中，为了实现大规模AirDrop，我们通过主动干扰抑制控制探索多个平板膜的分布式控制算法。亮点是在复杂的动态特征和混合障碍下实现多个方面的共识。首先，设计了八维自由模型，其应用于精确模拟平面图的状态。基于动态模型，提出了分布式共识算法。设计有源扰动抑制控制器旨在实现该非线性多助理系统的精确轨迹跟踪。还证明了所提出的控制方法的稳定性。最后，与传统的集中算法和PID控制器进行比较，详细的仿真结果表明，分布式方法对控制精度和收敛时间具有巨大的改进。在混合障碍下，在132秒下成功实现了多个方案的共识，比PID控制器快50秒。该方法的平均误差也比传统控制器小60％。在这种情况下，已经证明了大规模AITDROP中提出的方法的可行性和有效性。 （c）2020 Elsevier Masson SAS。版权所有。

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