输入受限下多无人机三维协同路径跟踪控制

针对多无人机在三维空间的协同路径跟踪问题，设计了基于反步法的协同控制器。考虑无人机在飞行过程中的输入饱和问题，加入辅助控制系统，以确保系统在输入受限下仍能保持良好的控制性能。将无人机六自由度非线性模型反馈线性化处理，同时考虑无人机飞行时受到的外界不确定扰动及自身模型存在的未建模动态，利用径向基函数在线估计补偿，提高了系统的鲁棒性和抗干扰能力。为了解决反步法需要对虚拟控制量求导导致的控制器复杂问题，引入一阶滤波器，避免对虚拟控制量的求导。利用图论解决无人机机间通信问题，基于一致性理论实现了多无人机的协同控制。基于Lyapunov稳定性理论，证明了系统的稳定性，仿真结果表明，所设计的路径跟踪协同控制器能够达到良好的协同跟踪控制效果。 

3D cooperative path following control of multi-UAVs with input saturation

Aiming at the problem of multi-UAV cooperative path following in three-dimensional space, a cooperative controller was designed based on backstepping. To avoid control input saturation, an auxiliary controller was introduced to ensure control performance of the system. The six degrees of freedom nonlinear model of the UAV was feedback linearized, and the uncertain disturbances of the UAV and the unmodeled dynamics of the model itself were estimated and compensated online by radial basis function, thus improving the robustness of the system and its capacity to resist disturbances. Meanwhile, a first-order filter was introduced to avoid the derivation of the virtural control variable in the backstepping method. The graph theory was adopted to solve the communication problem between UAVs, and the consensus theory to realize the cooperative control of multiple UAVs. Finally, the Lyapunov stability theory was used to prove the stability of the system. The simulation results show that the designed cooperative path following controller can achieve good cooperative tracking control effects.