Coordinated Flight Path Generation and Fuzzy Model-Based Control of Multiple Unmanned Aerial Vehicles in Windy Environments
Coordinated Flight Path Generation and Fuzzy Model-Based Control of Multiple Unmanned Aerial Vehicles in Windy Environments
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DOI：
10.1007/s40815-022-01390-0
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发表时间：
2022-09
影响因子：
4.3
通讯作者：
Yutoku Takahashi;Motoyasu Tanaka;Kazuo Tanaka
中科院分区：
文献类型：
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作者：
Yutoku Takahashi;Motoyasu Tanaka;Kazuo Tanaka
提出了一种新的多无人机协调航迹生成与控制方法。本文的一个主要特点是提出了一种新的方法来产生多个复杂的路径，并实现协调的路径跟踪控制的多无人机在风环境中。为了解决多无人机多航迹协调问题，引入了比值参数和航迹长度变量，使其能够方便地表达多种复杂航迹。在所考虑的无人机操作域中，利用比值参数和路径长度变量，将Serret-Frenet框架下的无人机运动学模型精确地转换为增广的Takagi-Sugeno（T-S）模糊模型。利用线性矩阵不等式的形式给出了增广T-S模糊模型的镇定条件，并利用该条件得到了T-S模糊控制器的稳定反馈增益。仿真结果表明，所设计的控制器能够使多无人机在风环境下协调飞行时稳定在复杂航迹上。
This paper presents a new approach to coordinated flight path generation and control of multiple unmanned aerial vehicles (UAVs). A key feature of this paper is to present a new method for generating plural complicated paths and for achieving coordinated path following control of multiple UAVs in windy environments. To coordinate among plural flight paths for multiple UAVs, this paper newly introduces ratio parameters and path-length variables that are able to easily express a wide variety of complicated flight paths. Using the ratio parameters and path-length variables, kinematic models of UAVs defined on Serret–Frenet frame are exactly converted into augmented Takagi–Sugeno (T-S) fuzzy models in considered operation domains of UAVs. Stabilization conditions for the augmented T-S fuzzy models are derived in terms of linear matrix inequalities and are utilized to obtain stable feedback gains of the T-S fuzzy controllers. Finally, the simulation results demonstrate that the designed controllers can stabilize the UAVs on complicated paths in coordinated flight under windy environments.