Distributed unmanned aerial vehicle platoon control with dynamic obstacle avoidance

被引：0
|
作者：
Xian B. [1 ]
Xu M.-D. [1 ]
Wang L. [2 ]
机构：
[1] School of Electrical and Information Engineering, Tianjin University, Tianjin
[2] Tianjin Navigation Instrument Research Institute, Tianjin
来源：
Kongzhi yu Juece/Control and Decision | 2022年 / 37卷 / 09期
关键词：
consensus; distributed control; nonlinear control; obstacle avoidance; potential field; vehicle platoon;
D O I：
10.13195/j.kzyjc.2021.0141
中图分类号：
学科分类号：
摘要：
In this paper, the cooperative cruising control and dynamic obstacle avoidance problems for unmanned aerial vehicle (UAV) platoon are investigated. The transverse feedback linearization (TFL) method is employed to transfer the dynamic model of UAVs, and a decoupled control input is designed for the platoon to follow the desired path. Following the cruise path, a distributed control strategy based on the consensus protocal is developed. In order to ensure the safety of the UAV platoon which is subject to the moving obstacle, this paper also proposes an obstacle avoidance control strategy via the combination of the potential field methodology with the consensue protocal. The stability of the proposed control strategy is proved via the Lyapunov based stability analysis and the LaSalle’s invariance principle. Meanwhile, it is proved through the energy-based analysis that no collisions occur between any agent in the vehicle platoon and the moving obstacle. Finally, real-time experiments of cooperative flight control and obtacle avoidance are performed to demonstrate the effctiveness of the proposed control strategy. © 2022 Northeast University. All rights reserved.
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页码：2226 / 2234
页数：8
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