【摘要】 针对具有风扰的四旋翼无人机系统,提出一种仅基于角度测量信息的编队控制策略。构建势能函数设计纯方位编队控制策略,并引入参数自适应估计对无人机系统进行补偿,以消除外界风扰对四旋翼无人机系统飞行性能的影响。利用Barbalat’s引理验证四旋翼无人机系统可以达到期望的编队形状,并证明多无人机编队系统的全局稳定性。仿真结果表明无人机自适应角度刚性编队控制策略是有效的。更多还原

【Abstract】 For a quadrotor UAV(unmanned aerial vehicle) system with wind disturbance,a bearing-only formation control strategy is proposed.Firstly,the potential energy function is constructed to design the bearing rigid formation control strategy.Furthermore,the parameter adaptive estimation is introduced to compensate the system,which eliminates the influence of external wind disturbance on the flight performance of the quadrotor UAV system.Subsequently,Barbalat’s Lemma is utilized to verify that the quadrotor UAV system can achieve the desired formation shape,and to prove global stability of the multi-UAV formation system.Ultimately,the simulation outcomes corroborate the efficacy of the adaptive bearing rigid formation control strategy for UAVs.更多还原