基于一致性理论的四旋翼飞行器编队控制方法研究.pdf

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1、⺅༛ᆖս䇪᮷ะӄж㠪ᙝ⨼䇰Ⲻ഑ᰁ㘲伔㺂ಞ㕌䱕᧝࡬ᯯ⌋⹊ガRESEARCHONFORMATIONCONTROLOFUNMMANEDARIEALVEHICLEBASEDONCONSENSUSTHEORYᶘੋᙑ૾ቊ┞ᐛѐཝᆜ2018ᒤ6ᴸഭ޵മҖ࠶㊫ਧ˖O232ᆖṑԓ⸱˖10213ഭ䱵മҖ࠶㊫ਧ˖510ᇶ㓗˖ޜᔰᐕᆖ⺅༛ᆖս䇪᮷ะӄж㠪ᙝ⨼䇰Ⲻ഑ᰁ㘲伔㺂ಞ㕌䱕᧝࡬ᯯ⌋⹊ガ⺋༡⹊ガ⭕˖ᶘੋᙑሲᐾ˖傜ᶠᮉᦸ⭩䈭ᆜփ˖ᐕᆖ⺅༛ᆜ〇˖᧗ࡦ、ᆖоᐕ〻ᡶ൞ঋփ˖᧗ࡦоԯⵏѝᗳㆊ䗟ᰛᵕ˖2018ᒤ6ᴸᦾҾᆜփঋփ˖૸ቄ

2、┘ᐕъབྷᆖClassifiedIndex:O232U.D.C:510DissertationfortheMasterDegreeinEngineeringRESEARCHONFORMATIONCONTROLOFUNMMANEDARIEALVEHICLEBASEDONCONSENSUSTHEORYCandidateφYangJunyiSupervisorφProf.MaJieAcademicDegreeAppliedforφMasterofEngineeringSpecialityφControlSc

3、ienceandEngineeringAffiliationφControlandSimulationCenterDateofDefenceφJune,2018Degree-Conferring-InstitutionφHarbinInstituteofTechnology૸ቄ┘ᐕъབྷᆖᐕᆖ⺅༛ᆖս䇪᮷᪎㾷ᵜ᮷ԕഋ᯻㘬伎㹼ಘ㕆䱏伎㹼Ѫԫ࣑㛼ᲟˈᨀࠪҶ࠶ᐳᔿⲴ᧗ࡦॿ䇞ˈ㜭ཏᇎ⧠ཊഋ᯻㘬伎㹼ಘⲴ㕆䱏伎㹼DŽ㘳㲁ࡠഋ᯻㘬伎㹼ಘ⅐傡ࣘⲴ㌫㔏⢩ᙗˈ䟷⭘৽↕⌅о━⁑᧗ࡦᯩ⌅⴨㔃ਸⲴ᧗ࡦᯩ⌅䘋㹼᧗ࡦಘⲴ䇮䇑ˈ㜭ཏᇎ

4、⧠ᜟᙗ඀ḷ㌫лйњᯩੁⲴս㖞઼ањုᘱ⅗᣹䀂Ⲵ⤜・᧗ࡦDŽ਼ᰦ㘳㲁ࡠ㌫㔏ᇎ䱵ᐕ֌ᶑԦлਇࡠⲴཆ࣐ᒢᢠˈ䙊䗷ᶴᔪᴹ䲀ᰦ䰤᭦ᮋⲴ━⁑㿲⍻ಘሩᒢᢠ䘋㹼൘㓯ՠ䇑઼㺕گDŽ↔ཆˈ㘳㲁ࡠᐕ〻ᇎ䱵ѝ⣦ᘱⲴ儈䱦ሬᮠᖸ䳮ⴤ᧕⍻䟿㧧ᗇˈ䙊䗷ᶴᔪᴹ䲀ᰦ䰤᭦ᮋⲴ儈䱦━⁑ᗞ࠶ಘˈ൘㓯ሩ㌫㔏⣦ᘱ儈䱦ሬᮠ䘋㹼ՠ䇑DŽ㘳㲁ࡠ儈䱦━⁑ᗞ࠶ಘⲴ৲ᮠ䈳㢲ഠ䳮ˈᨀࠪҶ㠚䘲ᓄⲴ৲ᮠ䈳㢲㿴ᖻˈሩ৲ᮠ䘋㹼൘㓯䈳㢲ˈㆰॆҶ৲ᮠⲴ䈳㢲䗷〻DŽ䟷⭘ᵾ䳵Პ䈪ཛᯩ⌅ሩ䰝⧟㌫㔏Ⲵっᇊᙗ䘋㹼䇱᰾ˈᒦ䟷⭘matlabԯⵏሩ᧗ࡦಘⲴᴹ᭸ᙗ䘋㹼ԯⵏ傼䇱DŽ㘳㲁ཊഋ᯻㘬伎㹼ಘ

5、㕆䱏伎㹼Ⲵԫ࣑㛼ᲟˈสҾа㠤ᙗ⨶䇪ᔪ・ཊഋ᯻㘬伎㹼ಘ㌫㔏䈟ᐞ⁑රˈ䟷⭘━⁑᧗ࡦо৽↕⌅⴨㔃ਸⲴᯩ⌅䘋㹼࠶ᐳᔿ᧗ࡦॿ䇞Ⲵ䇮䇑DŽᨀࠪⲴ࠶ᐳᔿ᧗ࡦॿ䇞㜭ཏᇎ⧠ᴹੁᤃᢁлⲴ㕆䱏伎㹼ԫ࣑DŽ䟷⭘࡙ӊᲞ䈪ཛᯩ⌅ሩ䰝⧟㌫㔏Ⲵっᇊᙗ䘋㹼䇱᰾ˈᒦ䟷⭘matlabԯⵏ䘋а↕傼䇱᧗ࡦॿ䇞Ⲵᴹ᭸ᙗDŽީ䭤䈃:ഋ᯻㘬伎㹼ಘˈ⅐傡ࣘ㌫㔏ˈ৽↕⌅ˈ━⁑᧗ࡦˈа㠤ᙗ⨶䇪ˈ㕆䱏᧗ࡦ-I-૸ቄ┘ᐕъབྷᆖᐕᆖ⺅༛ᆖս䇪᮷AbstractInthispaper,adistributedcontrolprotocolisproposedtore

6、alizetheformationcontrolproblemofMulti-UAVsystem.Consideringthenonholonomicpropertyofquadrotors,abacksteppingcombinedwithslidingmodecontrolmethodisusedtodesignthecontroller.Theproposedcontrollercanrealizeindependentcontrolofpositioninthreedirectionsand

7、attitudeinonedirectionunderinertialcoordinateframe.Inaddition,consideringthedisturbanceinpracticalsituation,afinite-timeslidingmodeobserverisproposedtoestimatethedisturbanceinfinitetime.Meanwhile,ahigher-orderslidingmodedifferentiatorisproposed,whichca

8、ngiveanaccurateestimationtothehigherorderderivativesofsystemstates,whichishardtobemeasuresinpractice.Furthermore,sincetheparametersinhigher-orderdifferentiatorishardtobetuned,anadaptivelawisproposed,whichcantunetheparametersonlineandsim