Formation Control for an UAV Team With Environment-Aware Dynamic Constraints
Formation Control for an UAV Team With Environment-Aware Dynamic Constraints
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DOI：
10.1109/tiv.2023.3295354
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发表时间：
2024-01
影响因子：
8.2
通讯作者：
Zhongjun Hu;Xu Jin
中科院分区：
文献类型：
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作者：
Zhongjun Hu;Xu Jin
关于约束多智能体系统操作的最新文献只能处理恒定或最好的时变约束要求。这种约束公式不能很好地响应多智能体系统之外的动态环境和外部智能体的存在。在这项工作中，我们考虑了一组无人驾驶飞行器（uav）在物理攻击者存在下的编队跟踪问题。安全/性能约束函数本质上是环境感知的和动态的，其表达式依赖于特定的路径参数和攻击者的存在。对路径的依赖保证了系统对动态运行环境的适应性。对攻击者的依赖保证了基于攻击者和代理之间的相对距离的快速调整。无人机期望路径和期望路径速度也可以同时依赖于路径和攻击者。为了满足约束要求，提出了复合屏障函数。利用神经网络逼近未知攻击者速度，利用自适应律学习理想权值矩阵。此外，利用自适应律估计未知系统参数和外界干扰。所提出的地层结构可以确保地层跟踪误差以指数收敛到平衡附近的小邻域，同时满足所有约束要求。最后通过仿真研究进一步验证了所提方案的有效性。
State-of-the-art literature on constrained multiagent system operations can only deal with constant or at best time-varying constraint requirements. Such constraint formulations cannot respond well to the dynamic environment and presence of external agents outside of the multiagent system. In this work, we consider a formation tracking problem for a group of unmanned aerial vehicles (UAVs) in the presence of a physical attacker. The safety/performance constraint functions are environment-aware and dynamic in nature, whose formulation depends on certain path parameters and presence of the attacker. The dependence on path ensures adaptation to the dynamic operation environment. The dependence on the attacker ensures swift adjustment based on the relative distances between the attacker and agents. UAV desired paths and desired path speeds can also be both path- and attacker-dependent. Composite barrier functions have been proposed to address the constraint requirements. Neural network is used to approximate unknown attacker velocity, where the ideal weight matrix is learned by adaptive laws. Besides, unknown system parameters and external disturbances are estimated by adaptive laws. The proposed formation architecture can ensure formation tracking errors converge exponentially to small neighborhoods near the equilibrium, with all constraint requirements met. At the end a simulation study further illustrates the proposed scheme and demonstrates its efficacy.