航空科学技术2025，Vol.36Issue(12)：10-17,8.DOI:10.19452/j.issn1007-5453.2025.12.002
基于有限时间复合估计的多无人机分层分布式一致性控制方法
Hierarchical Distributed Consensus Control Method for Multi-UAV Systems Based on Finite-Time Composite Estimation
摘要
Abstract
In the context of the widespread application of Unmanned Aerial Vehicle(UAV)swarm systems in fields such as disaster monitoring,inspection security,and collaborative combat,achieving efficient and robust distributed cooperative control has become one of the key technologies that urgently needs to be addressed.This paper investigates a finite-time consensus cooperative tracking control method based on a hierarchical design framework for multi-UAV systems with model uncertainties and external disturbances.A hierarchical control architecture is proposed for a leader-follower UAV formation,separating the consensus coordination objective from individual stability tasks.The reference command generation layer using virtual nodes estimates the leader's state information through a finite-time consensus observer to achieve distributed coordination and generate attitude references for the followers.The attitude tracking control layer combines adaptive sliding mode control with composite uncertainty estimation,where the parallel estimation system integrates finite-time fuzzy logic systems and disturbance observers to actively compensate for dynamic uncertainties and external disturbances.The prediction error,used as an estimation evaluation metric,is fed back to dynamically update the fuzzy weighting coefficients,thereby improving estimation accuracy.Lyapunov-based analysis rigorously proves the finite-time ultimate boundedness of the closed-loop system,and the observation errors converge consistently.Simulation results demonstrate that the proposed hierarchical controller achieves attitude consensus tracking,with all errors converging within a finite time.This study reduces the design complexity of multi-agent distributed control,enhances the real-time performance and anti-disturbance capability of the control system,and provides theoretical support and engineering reference for collaborative control of UAV swarms in complex environments.关键词
多无人机系统/分层分布式控制/有限时间控制/模糊逻辑系统/扰动观测器Key words
multi-unmanned aerial vehicle system/hierarchical distributed control/finite time control/fuzzy logic system/disturbance observer分类
航空航天引用本文复制引用
寿莹鑫,许斌..基于有限时间复合估计的多无人机分层分布式一致性控制方法[J].航空科学技术,2025,36(12):10-17,8.基金项目
航空科学基金(20230005069001) （20230005069001）
国家自然科学基金(62403131) （62403131）
江苏省卓越博士后计划(2024ZB267) Aeronautical Science Foundation of China(20230005069001) （2024ZB267）
National Natural Science Foundation of China(62403131) （62403131）
Jiangsu Funding Program for Excellent Postdoctoral Talent(2024ZB267) （2024ZB267）
