自动化学报2025，Vol.51Issue(5)：931-941,11.DOI:10.16383/j.aas.c240603
无人飞行器集群自主控制:预设性能驱动的安全编队控制
Autonomous Control of Unmanned Aerial Vehicle Swarms:Prescribed Performance Driven Safety Formation Control
摘要
Abstract
A control framework that balances formation tracking performance and safety is proposed to address the problem of multiple unmanned aerial vehicles(UAVs)formation tracking within obstacle environments.In this framework,a prescribed performance control method with adjustable performance boundaries is first used to gener-ate the desired control signals,ensuring that the UAVs track the desired trajectory generated by the virtual leader while satisfying transient and steady-state error constraints during the tracking process.Furthermore,the control barrier function is used to describe the safety state set of the UAVs,and a quadratic programming problem is for-mulated.The closed-form solution of the minimum intervention safety controller is obtained by using the Karush-Kuhn-Tucker conditions.Finally,an auxiliary system is constructed based on the closed-form solution of the safety control to achieve adaptive updating of the performance function.Theoretical analysis shows that this algorithm can ensure system safety under conditions of conflict between formation tracking and safety,while achieving forma-tion tracking under performance constraints when there is no conflict.Simulation results validate the effectiveness of the proposed algorithm.关键词
多无人机编队跟踪/安全控制/预设性能控制/控制障碍函数/辅助系统Key words
Multiple unmanned aerial vehicles formation tracking/safety control/prescribed performance control/control barrier function/auxiliary system引用本文复制引用
方浩,赵欣悦,陈杰..无人飞行器集群自主控制:预设性能驱动的安全编队控制[J].自动化学报,2025,51(5):931-941,11.基金项目
国家重点研发计划(2022YFA1004703,2022YFB4702000),国家自然科学基金(62373048,62133002,U1913602,62088101),上海市重大科技专项(2021SHZDZX0100)资助Supported by National Key Research and Development Pro-gram of China(2022YFA1004703,2022YFB4702000),National Natural Science Foundation of China(62373048,62133002,U1913602,62088101),and Shanghai Major Science and Techno-logy Special Project(2021SHZDZX0100) （2022YFA1004703,2022YFB4702000）
