摘要
针对树障清理作业中无人机主机视野受限导致作业精准性与安全性不足的问题,本文提出一种单主机-多从机的协同编队跟随控制方法,用于实时感知与传输主机作业状态。该系统采用领航-跟随控制策略,构建由上层协同滑模控制器与下层轨迹、姿态跟踪器组成的双层控制架构。针对固定期望距离与方位角的跟随任务,在主机航向坐标系下建立从机期望相对位姿与参考速度模型,并设计超扭滑模控制律。针对三维空间内的跟随方位切换任务,在参考速度中引入极坐标前馈项,同时保持滑模控制结构不变,使从机沿圆弧轨迹绕主机实现平稳切换。通过仿真验证表明,该方法具有良好的跟随控制精度,在方位切换过程中位置与偏航误差均能快速收敛,验证了其在工业领域多视角跟随作业中的有效性与适用性。
A cooperative formation follow-control method based on a single-leader and multiple-follower structure is proposed to address the problem of insufficient operational accuracy and safety caused by the limited visibility of the leading unmanned aerial vehicle(UAV)during tree-obstacle-clearing operations.The system adopts a leader-follower control strategy and is designed with a two-layer control architecture consisting of an upper cooperative sliding mode controller and a lower trajectory and attitude tracker.For follow-control tasks with fixed desired distance and azimuth,a relative pose and reference velocity model of the follower UAVs is established in the leader’s heading coordinate frame,and a super-twisting sliding mode control law is developed.For three-dimensional azimuth-switching tasks,a polar-coordinate feedforward term is introduced into the reference velocity while the sliding mode control structure is kept unchanged,so that the followers are enabled to perform smooth circular transitions around the leader.Simulation results show that the proposed method achieves high follow-control accuracy,and that the position and yaw errors of the followers converge rapidly during azimuth switching,verifying its effectiveness and applicability in industrial multi-view cooperative operations.
作者
王先坦
杨忠
王大治
廖禄伟
吕梦琦
欧阳权
WANG Xiantan;YANG Zhong;WANG Dazhi;LIAO Luwei;LV Mengqi;OUYANG Quan(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《空间电子技术》
2025年第6期34-41,共8页
Space Electronic Technology
基金
广西电网公司2024年科技创新项目(编号:GXKJXM20240152)
广西电网公司2023年科技创新项目(编号:GXKJXM20230169)。
关键词
协同编队
领航跟随法
滑模控制
方位切换
cooperative formation
leader-follower control
sliding mode control
azimuth switching
