Adaptive formation control architectures for a team of quadrotors with multiple performance and safety constraints
Adaptive formation control architectures for a team of quadrotors with multiple performance and safety constraints
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DOI：
10.1002/rnc.6824
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发表时间：
2023-06
影响因子：
3.9
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
在这项工作中，我们提出了一种新的自适应编队控制体系结构的一组四旋翼系统，视线（LOS）的距离和相对距离的限制，以及姿态的限制，其中的约束要求可以是不对称的和时变的性质。LOS距离约束考虑确保每个四旋翼不会偏离其期望的飞行轨迹太远。LOS相对四旋翼间距离约束是为了保证编队中的任何两个四旋翼之间的LOS距离既不太大（例如，这可能导致四旋翼之间的通信丢失）也不太小（例如，这可能导致四旋翼之间的碰撞）。姿态约束确保每个四旋翼的滚转、俯仰和偏航角不会偏离期望轮廓太多。在控制器的设计和分析中采用了通用的障碍函数，这是一个通用的框架，可以在一个统一的控制器架构中处理具有不同类型约束的系统。此外，每个四旋翼的质量和惯性是未知的，并且系统动力学受到时变外部干扰。通过严格的分析，可以保证指数收敛速度的距离和姿态跟踪误差，而所有的约束条件下，在操作过程中得到满足。仿真例子进一步证明了所提出的控制框架的有效性。
In this work, we propose a novel adaptive formation control architecture for a group of quadrotor systems, under line‐of‐sight (LOS) distance and relative distance constraints as well as attitude constraints, where the constraint requirements can be both asymmetric and time‐varying in nature. The LOS distance constraint consideration ensures that each quadrotor is not deviating too far away from its desired flight trajectory. The LOS relative inter‐quadrotor distance constraint is to guarantee that the LOS distance between any two quadrotors in the formation is neither too large (which may result in the loss of communication between quadrotors, for example) nor too small (which may result in collision between quadrotors, for example). The attitude constraints make sure that the roll, pitch, and yaw angles of each quadrotor do not deviate too much from the desired profile. Universal barrier functions are adopted in the controller design and analysis, which is a generic framework that can address system with different types of constraints in a unified controller architecture. Furthermore, each quadrotor's mass and inertia are unknown, and the system dynamics are subjected to time‐varying external disturbances. Through rigorous analysis, an exponential convergence rate can be guaranteed on the distance and attitude tracking errors, while all constraints are satisfied during the operation. A simulation example further demonstrates the efficacy of the proposed control framework.