基于数据驱动的无人机编队最优控制算法设计

Design of Optimal Data-driven Control Algorithm for UAV Formation

摘要:

无人机编队具有广泛的应用价值和发展前景，然而，无人机动力学模型的非线性和耦合性，以及实际应用中的不确定性限制了其应用。为了解决模型不精确问题，提出了一种数据驱动的自适应动态编程 （ADP）最优编队控制器设计方法。该方法结合了分布式一致性和线性二次方相关理论。首先，通过建立虚拟领航–跟随者模型，可以将四旋翼无人机的复杂非线性动力学模型简化为 4 个线性子系统，并解耦它们的相互影响；接下来，针对每个子系统设计编队控制器；随后应用李雅普诺夫理论对算法进行稳定性分析；最后通过仿真，验证了所提算法的稳定性和有效性。

关键词:无人机编队;数据驱动;领航–跟随者;自适应动态规划

Abstract:

UAV formation has a wide range of application value and development prospects. However，the nonlinear and coupling nature of UAV dynamic model and the uncertainties in practical applications limit its application. In order to solve the problem of model inaccuracy，an optimal formation controller design method based on data-driven adaptive dynamic programming（ADP）is proposed. It combines the theory of distributed consistency and linear quadratic correlation. First，a virtual leader-follower model is established，the UAV's nonlinear dynamics model is simplified into four linear subsystems，and their mutual influences are decoupled. Next，the formation controller is designed for each subsystem. Then，the stability of the algorithm is analyzed using Lyapunov stability theory. Finally，the stability and effectiveness of the proposed algorithm is verified.

Key words:UAV formation;data-driven;leader-follower model;adaptive dynamic programming