飞控与探测2025，Vol.8Issue(2)：1-8,8.DOI:10.20249/j.cnki.2096-5974.2025.02.001
考虑碰撞约束的无人机集群分布式编队控制
Distributed Formation Control of Unmanned Aerial Vehicle Clusters Considering Collision Constraints
摘要
Abstract
A distributed formation control algorithm based on the Model Reference Adaptive Con-sensus(MRACon)framework combined with model predictive control(MPC)is proposed for the control problem of unmanned aerial vehicle clusters considering collision constraints.First,a dis-tributed formation algorithm is designed for asymmetric directed graphs within the framework of model reference consistency.Second,the cost function of MPC is designed to track the reference model,and the nonconvex collision constraints are linearized to ensure that the MPC algorithm could quickly solve problems within the convex optimization framework.The constraints considered in this article include inter-aircraft collision avoidance constraints,control input con-straints,flight area constraints,speed limit constraints,etc.Finally,the safety of the formation control algorithm designed in this paper in terms of collision avoidance between aircraft is verified through simulation.关键词
无人机集群/编队控制/有向图/模型参考一致性/模型预测控制Key words
UAV swarm/formation control/directed topology/MRACon/MPC分类
计算机与自动化引用本文复制引用
王一鸣,梅杰,龚有敏,马广富..考虑碰撞约束的无人机集群分布式编队控制[J].飞控与探测,2025,8(2):1-8,8.基金项目
国家自然科学基金(面上项目)(62073098) （面上项目）
深圳市基础研究重点项目(JCYJ20241202124010014) （JCYJ20241202124010014）
