具有抗毁性拓扑结构的无人机编队对偶四元数控制方法

This project will provide a new approach for multi-UAVs’ formation flight, addressing two major challenges of UAVs formation flight compared with multi-agent cooperation, namely under-actuated nonlinearity of attitude and position coupled in three-dimensional space and the possibility that some UAVs are destroyed or some communication links become invalid, in the context of such typical collaborative patterns as aerial refueling, formation penetration, and cooperative reconnaissance. Dual quaternion, graph theory and nonlinear control will be applied to explore the UAVs formation flight control, in order to provide an attitude and position formation control for fixed-wing UAVs under invulnerable topology in three-dimensional space. Firstly, the graph theory will be used to design the invulnerable topology of formation, so that the UAVs will maintain a certain tolerance of some destroyed platforms or invalid communication links while retaining as few directed communication links as possible; in addition, the dual quaternion and nonlinear control theory will be employed to design the dual quaternion control law for UAVs’ attitude and position, which provides a new non-decoupled attitude and position control law in three-dimensional space for UAVs and other under-actuated nonlinear moving vehicles. Then, based on the invulnerable topology, it will propose a unit dual quaternion based method for multi-UAVs’ attitude and position formation and develop a highly fieldity semi-physical simulative environment to valid the effectiveness of the topology and control laws.

以空中加油、编队突防和协同侦察等典型协同模式为背景，瞄准无人机编队飞行相对多智能体协同的两个挑战：姿态和位置耦合的三维空间欠驱动非线性，和存在部分无人机损毁或局部通信链路失效的可能，借助对偶四元数、图论和非线性控制等工具探索无人机编队飞行控制理论，解决三维空间中具有抗毁性拓扑结构的固定翼无人机的姿态和位置编队控制问题。首先利用图论设计编队的抗毁性拓扑结构，使多无人机在保有尽可能少的有向通信链路的同时，对部分平台或者局部通信链路的损毁具有一定的容忍性；利用对偶四元数和非线性控制理论设计无人机姿态和位置对偶四元数对数控制律，为无人机等欠驱动非线性运动体提供新的三维空间姿态和位置非解耦控制律。在此基础上，基于抗毁性拓扑结构探索无人机对偶四元数代数编队控制方法，并构建高保真度的多机协同半实物仿真环境对拓扑结构和编队控制律进行比较和验证，为无人机编队飞行应用提供相关理论和关键技术支持。

项目以空中加油、编队突防和协同侦查为背景，借助对偶四元数、图论和非线性控制等工具解决三维空间中固定翼无人机协同编队飞行的几个关键问题。主要包括：（1）定义了无人机编队抗毁性，分别针对无向图和有向图设计了边/顶点抗毁性拓扑结构生成算法，可以使得多无人机系统在形成编队的同时就具有一定的拓扑结构抗毁性。（2）针对单无人机系统，结合对偶四元数建立了固定翼无人机的对偶四元数模型表示，并设计了反馈线性化控制律，可有效解决无人机的位置和姿态同步控制问题。进一步，考虑固定翼无人机的欠驱动和受限特性，设计了系列无人机的曲线跟踪控制律，主要包括ISS-VF曲线跟踪律、VSC-VF曲线跟踪律、CLF曲线跟踪控制律和MFFAC自适应曲线跟踪控制律。（3）构建了对偶四元数形式的多机朝向和位置的相对运动模型，设计了基于特定位姿关系的无人机朝向和位置编队控制律。为解决任意拓扑的多无人机系统构型生成及重构控制问题，提出了一种基于拟态物理的多机编队控制算法。进一步，针对固定翼无人机输入的受限性，设计了混杂控制律驱动的协同跟踪控制律。（4）基于X-Plane和无人机自驾仪，构建了高保真度的多机协同半实物仿真环境。项目设计的单机和多机协同控制律在半实物仿真环境中得到验证，部分关键算法还进行了的飞行试验验证。项目取得的研究成果具有实际的应用意义和理论价值，为提升对抗环境下的固定翼无人机自主能力和集群协同能力提供了理论支撑。