一种新型直升机编队控制的领导-从者框架

M. Saffarian, F. Fahimi
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引用次数: 10

摘要

提出了一种自主直升机编队控制框架。我们引入了I - alpha和I - I两种控制方案,分别用于控制受一个或两个相邻领导约束的直升机的相对位置。为了稳定这些方案的内部地层参数,提出了一种非线性模型预测控制器。控制器通过优化成本函数来确定未来的控制命令,该成本函数包括地层参数误差和其他参数(如控制力)。梯度下降法被认为是一种合适的优化方法。本文介绍了I - I控制器的设计步骤。通过设计l - α和I - I两种控制方案,一组自主直升机可以实现任意用户定义的三维网格模式。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Novel Leader-Follower Framework for Control of Helicopter Formation
A framework for formation control of a group of autonomous helicopters is presented. We introduced two control schemes named as I - alpha and I - I, which are tailored to control the relative positions of a helicopter constrained by either one or two neighboring leaders, respectively. To stabilize the internal formation parameters of these schemes, a nonlinear model predictive controller is developed. The controller finds the future control commands by optimizing a cost function, which includes formation parameter errors among other parameters such as control forces. The gradient descent method is considered as a suitable optimizer candidate for our approach. The design steps of the I - I controller is presented in this work. By designing both the two l - alpha and I - I control schemes, any user-defined three dimensional grid pattern could be achieved by a group of autonomous helicopters.
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