Cordeiro Thiago F K, Ishihara João Y, Ferreira Henrique C
Gama Campus, University of Brasília, Brasília 72444-240, Brazil.
Department of Electrical Engineering, Darcy Ribeiro Campus, University of Brasília, Brasília 70910-900, Brazil.
Sensors (Basel). 2020 May 30;20(11):3094. doi: 10.3390/s20113094.
In this paper, a nonlinear robust formation flight controller for a swarm of unmanned aerial vehicles (UAVs) is presented. It is based on the virtual leader approach and is capable of achieving and maintaining a formation with time-varying shape. By using a decentralized architecture, the local controller in each UAV uses information only from the UAV itself, its neighbors, and from the virtual leader. Also, a synchronization control objective provides a mechanism to weight between the fleet achieving the desired formation shape, that is, achieving the desired relative position between the UAVs, and each UAV achieving its desired absolute position. The use of a combination of a sliding mode controller and a low pass filter reduces the usual chattering effect, providing a smooth control signal while maintaining robustness. Simulation results show the effectiveness of the proposed decentralized controller.
本文提出了一种用于无人机群的非线性鲁棒编队飞行控制器。它基于虚拟领航方法，能够实现并保持具有时变形状的编队。通过采用分散式架构，每架无人机中的本地控制器仅使用来自其自身、其邻居以及虚拟领航器的信息。此外，同步控制目标提供了一种机制，用于在机群实现期望编队形状（即无人机之间达到期望相对位置）与每架无人机实现其期望绝对位置之间进行权衡。滑模控制器和低通滤波器的组合使用减少了常见的抖振效应，在保持鲁棒性的同时提供了平滑的控制信号。仿真结果表明了所提出的分散式控制器的有效性。
