基于扰动观测器的无人机固定时间编队协同控制

针对无人机的编队控制问题,基于虚拟领航者编队方法,提出了 1种基于固定时间超螺旋干扰观测器的反步控制策略。首先,设计了 1种固定时间超螺旋扰动观测器,以保证在固定时间内,对无人机编队机动所受扰动的快速观测；其次,针对编队控制问题,设计了基于超螺旋扰动观测器的反步控制策略,该控制器显著降低了抖振效应；然后,使用李雅普诺夫理论和固定时间理论,分析了控制策略的固定时间稳定性；最后,通过仿真算例验证了所提出的控制策略的有效性与可行性。

Coordinated Control of Fixed-Time UAV Formation Based on Disturbance Observer

For the formation control of unmanned aerial vehicles (UAVs), a backstepping control strategy based on fixed-time super twisting disturbance observer is proposed under the virtual leader formation method. Firstly, a fixed-time super twisting disturbance observer is designed to ensure fast observation of the disturbance of UAV formation maneuver in a fixed time. Secondly, for the formation control problem, a backstepping control strategy based on the super twisting distur-bance observer is designed, which reduces the chattering effect significantly. Then, the fixed-time stability of the control strategy is analyzed by Lyapunov theory and fixed-time theory. Finally, a simulation example is given to verify the effec-tiveness and feasibility of the proposed control strategy.