基于Legendre伪谱法的多无人机编队重构最优控制

Hongmei Zhang, Weining Wang, Guangyan Xu
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引用次数: 6

摘要

本文将多架无人机的编队重构问题描述为一个最优控制问题。首先,利用三维弹性距离向量构建编队飞行的控制模型,该向量描述了相邻无人机的航速与距离的关系。进一步考虑了通信距离和安全防碰撞距离的约束,将编队建模为具有终端状态约束的燃料最优问题。然后,将无人机编队飞行的最优控制问题转化为基于Legendre伪谱法的非线性规划问题。LPM的优点是在离散化过程中以较少的节点获得较高的精度。最后,在Matlab中对三架无人机的编队进行仿真,并利用Tomlab工具包进行求解。仿真结果表明,该方法能较好地获得理想的新形状,且位置误差较小,燃料用量最优。验证了该方法的有效性和可行性。
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Optimal control of formation reconfiguration for multiple UAVs based on Legendre Pseudospectral Method
The formation reconfiguration problem of the multiple unmanned aerial vehicles (Multi-UAVs) is described as an optimal control problem in this paper. Firstly, the control model of formation flight is constructed with the three-dimensional elastic distance vector, which describes the relationship between the speed and distance of adjacent UAVs in the leader-follower type. Furthermore, the constraints of communication distance and the security anti-collision distance are taken into account, and the formation is modeled to a fuel optimal problem with terminal state restrictions. Then, the optimal control problem of UAV formation flight is transformed into a nonlinear programming problem based on Legendre Pseudospectrum Method. The advantage of LPM is to obtain a higher accuracy with fewer nodes in the process of discretization. Finally, the formation with three UAVs is simulated in Matlab and solved by Tomlab toolkit. The simulation results show that the formation can be well achieved the desired new shape with minor position error and optimal fuel. The effectiveness and feasibility of the method is verified.
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