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摘要:
针对传统一致性算法中存在的大增益收敛振荡以及当编队队形受到平动转动同时施加的问题进行了深入研究。在传统一致性编队算法基础上引入虚拟长机，定义新的范数来扩展原有的一致性算法，以解决线性一致性算法中大增益收敛振荡的问题。针对传统一致性编队过程中平动转动的施加导致队形无法保持的问题，引入最大距离作为参考控制器的反馈，修正参考输入轨迹，以确保编队队形的同时，实现平动转动过程中的良好跟踪队形。结合开源飞控Ardupilot和开源仿真平台Airsim进行了联合半物理仿真，进一步验证了改进算法的可行性。研究结果表明：所提算法在解决传统一致性协议中存在的问题方面具有显著的改进，并在实际应用中具有较好的可行性。
Abstract:This paper conducted in-depth research on the problems of large-gain convergence oscillation and the simultaneous application of translational and rotational motions in traditional consistency algorithms. First, based on the traditional consistent formation algorithm, a virtual leader was introduced, and a new norm was defined to extend the original algorithm, aiming to solve the issue of convergence oscillation caused by large gains in linear consistency algorithms. Second, to address the issue of formation loss during translational and rotational movements, the maximum inter-agent distance was introduced as feedback to the reference controller. This allowed for modification of the reference input trajectory and ensured stable formation tracking during motion. Finally, a joint semi-physical simulation was conducted using the open-source flight control system Ardupilot and the simulation platform AirSim to verify the feasibility of the improved algorithm. The results indicate that the proposed algorithm significantly improves the limitations of traditional consistency protocols and demonstrates good feasibility in practical applications.
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Key words:
- consistency algorithm /
- UAV formation /
- distributed formation /
- formation keeping /
- AirSim simulation
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图 1 含虚拟长机编队的无向通信网络
Figure 1. Undirected communication network with virtual leader formation
图 7 传统一致性与改进一致性算法高度控制响应曲线对比
Figure 7. Height control response curves of traditional and improved consistency algorithms
图 8 传统一致性与改进一致性算法速度控制响应曲线对比
Figure 8. Speed control response curves of traditional and improved consistency algorithms
图 9 传统一致性与改进一致性算法偏航角控制响应曲线对比
Figure 9. Yaw angle control response curves of traditional and improved consistency algorithms
图 14 $ t = 2 $ s时传统与改进一致性算法队形轨迹跟踪过程
Figure 14. Formation tracking traditional and improved consistency algorithms at t=2 s
图 15 $ t = 5 $ s时传统与改进一致性算法队形轨迹跟踪过程
Figure 15. Formation tracking traditional and improved consistency algorithms at t=5 s
图 16 $ t = 9 $ s时传统与改进一致性算法队形轨迹跟踪过程
Figure 16. Formation tracking traditional and improved consistency algorithms at t=9 s
图 17 $ t = 12 $ s时传统与改进一致性算法队形轨迹跟踪过程
Figure 17. Formation tracking at traditional and improved consistency algorithms t=12 s
图 18 修正前后参考轨迹状态量对比图
Figure 18. Comparison of reference trajectory states before and after correction
图 19 修正后编队各机$ x $方向参考运动轨迹
Figure 19. Corrected x-direction reference trajectories for each UAV
图 20 修正后编队各机$ y $方向参考运动轨迹
Figure 20. Corrected y-direction reference trajectories for each UAV
图 21 修正后编队各机$ {\textit{z}} $方向参考运动轨迹
Figure 21. Corrected z-direction reference trajectories for each UAV
图 22 修正前后$ {\textit{z}} $方向期望加速度与上下限加速度
Figure 22. Expected and upper/lower bound acceleration in z-direction before and after correction
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