1.哈尔滨工业大学威海 信息科学与工程学院 山东省 威海市;2.†哈尔滨工业大学威海 信息科学与工程学院 山东省 威海市
1.Harbin Institute of Technology,School of Information Science and Engineering,Shandong,Weihai;2.Harbin Institute of Technology,School of Information Science and Engineering,Shandong,Weihai,;3.†Harbin Institute of Technology,School of Information Science and Engineering,Shandong,Weihai
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，本文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四个线性子系统，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。
UAV formation has a wide range of application value and development prospects, However, The dynamic model of UAV is highly coupled and nonlinear, with numerous uncertainties in practical applications.which limits its application. Aiming at the inaccuracy of the formation model caused by the perturbation of the internal parameters of the UAV formation, this paper combines the related theories of distributed consistency and linear quadratic, and then proposes an optimal formation controller based on data-driven adaptive dynamic programming (ADP). First, based on the virtual leader-follower model, the UAV"s nonlinear dynamics model is simplified and decoupled into four linear subsystems, and the formation controllers are designed respectively for them, and the detailed design steps and verification process are given. Next, the stability of the algorithm is analyzed using Lyapunov stability theory. To verify the stability and effectiveness of the proposed algorithm, simulation results are presented.
