数字海洋与水下攻防2023，Vol.6Issue(6)：670-680,11.DOI:10.19838/j.issn.2096-5753.2023.06.004
基于数据驱动的无人机编队最优控制算法设计
Design of Optimal Data-driven Control Algorithm for UAV Formation
摘要
Abstract
UAV formation has a wide range of application value and development prospects.However,the nonlinear and coupling nature of UAV dynamic model and the uncertainties in practical applications limit its application.In order to solve the problem of model inaccuracy,an optimal formation controller design method based on data-driven adaptive dynamic programming(ADP)is proposed.It combines the theory of distributed consistency and linear quadratic correlation.First,a virtual leader-follower model is established,the UAV's nonlinear dynamics model is simplified into four linear subsystems,and their mutual influences are decoupled.Next,the formation controller is designed for each subsystem.Then,the stability of the algorithm is analyzed using Lyapunov stability theory.Finally,the stability and effectiveness of the proposed algorithm is verified.关键词
无人机编队/数据驱动/领航-跟随者/自适应动态规划Key words
UAV formation/data-driven/leader-follower model/adaptive dynamic programming分类
计算机与自动化引用本文复制引用
董睿冲,徐涛,王晓丽..基于数据驱动的无人机编队最优控制算法设计[J].数字海洋与水下攻防,2023,6(6):670-680,11.基金项目
山东省自然科学基金"复杂多航空器系统分布式控制"(ZR2020MF072) （ZR2020MF072）
山东省高校青年创新科技计划"复杂多智能体系统协同控制"(2019KJN004). （2019KJN004）
