基于遗传优化的多智能体六自由度无人机系统一致性控制

Genetic Optimization-Based Consensus Control of Multi-Agent 6-DoF UAV System.

作者信息

Najm Aws Abdulsalam, Ibraheem Ibraheem Kasim, Azar Ahmad Taher, Humaidi Amjad J

机构信息

Department of electrical engineering, College of engineering, University of Baghdad, Baghdad 10001, Iraq.

Robotics and Internet-of-Things Lab (RIOTU), Prince Sultan University, Riyadh 11586, Saudi Arabia.

出版信息

Sensors (Basel). 2020 Jun 24;20(12):3576. doi: 10.3390/s20123576.

DOI:10.3390/s20123576

PMID:32599862

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7349098/

Abstract

A consensus control law is proposed for a multi-agent system of quadrotors with leader-follower communication topology for three quadrotor agents. The genetic algorithm (GA) is the proposed optimization technique to tune the consensus control parameters. The complete nonlinear model is used without any further simplifications in the simulations, while simplification in the model is used to theoretically design the controller. Different case studies and tests are done (i.e., trajectory tracking formation and switching topology) to show the effectiveness of the proposed controller. The results show good performance in all tests while achieving the consensus of the desired formations.

摘要

针对具有领导者-跟随者通信拓扑结构的三旋翼无人机多智能体系统，提出了一种一致性控制律。遗传算法（GA）是用于调整一致性控制参数的优化技术。在仿真中使用完整的非线性模型，不做任何进一步简化，而在理论设计控制器时对模型进行了简化。进行了不同的案例研究和测试（即轨迹跟踪编队和切换拓扑）以展示所提控制器的有效性。结果表明，在所有测试中该控制器性能良好，同时实现了期望编队的一致性。