多旋翼无人机协同控制系统的领导-跟随设计与实现

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"Design and implementation of a leader-follower cooperative control system for unmanned helicopters (2010年)" 这篇2010年的论文深入探讨了多无人机直升机的协同控制系统的设计与实现，特别是采用了领导者-跟随者模式来维持固定几何构型，同时导航无人机沿着预定轨迹飞行。在该系统中，领导机被指令按照预设的轨迹飞行，而每个跟随机则通过测量自身的惯性位置以及通过无线 modem 获得的领导机位置和速度信息，来控制并保持其位置信息。文章详细阐述了如何实现这一协同控制策略。对于多个无人机的编队飞行，提出了具体的规定和要求，确保在实际飞行测试中的编队稳定性和安全性。鉴于实际飞行中可能发生的无人机碰撞问题，论文还提出了一种基于避障策略的方案，以防止在编队飞行过程中发生碰撞事故。这种避障策略可能是通过实时监测和预测各无人机的相对位置，以及利用传感器数据（如雷达、激光雷达或视觉传感器）来检测障碍物，并通过算法计算出安全的飞行路径。论文还可能涵盖了控制理论和应用的相关内容，包括但不限于：无人机的动态模型、控制律设计、无线通信技术在无人机编队中的应用、实时数据处理以及鲁棒控制策略等。此外，作者可能讨论了如何优化控制算法以提高系统的响应速度和稳定性，以及如何处理由无线通信带来的延迟和不确定性。这篇论文为无人机编队飞行的协同控制提供了一个全面的解决方案，不仅关注了控制系统的理论设计，也考虑了实际飞行中可能遇到的技术挑战和安全问题，是工程技术领域的重要研究，对于无人航空器的集群操作有着重要的参考价值。

J Control Theory Appl 2010 8 (1) 61–68

DOI 10.1007/s11768-010-9188-6

Design and implementation of

a leader-follower cooperative control system for

unmanned helicopters

Ben YUN

, Ben M. CHEN

, Kai Yew LUM

, Tong H. LEE

(1.Department of Electrical & Computer Engineering, National University of Singapore, Singapore 117576;

2.Temasek Laboratories, National University of Singapore, Singapore 117508)

Abstract: In this paper, we present a full scheme for the cooperative control of multiple unmanned aerial vehicle

(UAV) helicopters. We adopt the leader-follower pattern to maintain a ﬁxed geometrical formation while navigating the

UAVs following certain trajectories. More speciﬁcally, the leader is commanded to ﬂy on some predeﬁned trajectories,

and each follower is controlled to maintain its position in formation using the measurement of its inertial position and

the information of the leader position and velocity, obtained through a wireless modem. More speciﬁcations are made for

multiple UAV formation ﬂight. In order to avoid possible collisions of UAV helicopters in the actual formation ﬂight test,

a collision avoidance scheme based on some predeﬁned alert zones and protected zones is employed. Simulations and

experimental results are presented to verify our design.

Keywords: Unmanned aerial vehicles; Cooperative control; Flight formation; Collision avoidance

1 Introduction

Unmanned aerial vehicles, or commonly known as UAVs,

are autonomous ﬂying vehicles equipped with sensing de-

vices and possibly weapons. They can be used to carry out

tasks in dangerous situations, for example, reconnaissanc-

ing over hostile territories or tracking battle damage of en-

emy targets (see, e.g., [1]). UAVs have many potential mili-

tary and civil applications and are also of great scientiﬁc sig-

niﬁcance in academic research. However, the current UAVs

tend to be complex, expensive, and often bulky. This has

motivated the development of the coordinating control of

low-cost UAVs in formation ﬂight, in which a group of

UAVs ﬂy in a desired graphic formation . The advantages

of formation ﬂight have long been known. It is believed

that the formation-ﬂying cooperative behavior of birds can

increase the efﬁciency of group performance. Military air-

craft, ground units, and naval forces use this strategy to

beneﬁt from mutual protection, concentration of offensive

power, and simpliﬁcation of control (see, e.g., [2∼6]).

The UAV research group at the National University of

Singapore has successfully constructed a series of UAV

helicopters, integrated from some hobby radio-controlled

helicopters such as Raptor 90, and implemented fully au-

tonomous ﬂight tests that include hovering, waypoint tra-

jectory tracking navigation, automatic take-off and landing

(see [7∼9]). It is natural for us to expand our research do-

main to the ﬂight formation of multiple UAVs.

In this paper, we present a full scheme for the cooperative

control of multiple UAV helicopters, including control sys-

tem design and collision avoidance scheme. In our proposed

formation ﬂight strategy, we adopt the leader-follower pat-

tern to maintain a ﬁxed geometrical formation while navi-

gating the UAVs following certain trajectories. More specif-

ically, the leader UAV is commanded to ﬂy along some pre-

deﬁned trajectories, and each follower is controlled to main-

tain its position in formation using the measurement of its

inertial position and the information of the leader position

and velocity, obtained through a wireless modem. In order

to avoid possible collisions of UAV helicopters in the actual

formation ﬂight test, a collision avoidance scheme based

on some predeﬁned alert zones and protected zones is em-

ployed. Other speciﬁcations for multiple UAV formation are

also investigated. Simulations and experimental results are

presented to verify our design.

2 Dynamic model of single UAV platform

We review in this section some results for modeling

and control of small-scale helicopters. A linear model has

been obtained using frequency-domain system identiﬁca-

tion methods. This model is valid for hovering and low-

velocity maneuvers (see, e.g., Kim et al. [10]). A controller

is used for waypoint navigation of a single UAV. This con-

troller is used as the inner loop controller in the design

of a formation ﬂight controller. It is used to guarantee the

asymptotic stability of the relative motion between the UAV

and the surrounding air.

The dynamic transient response of the relative motion be-

tween the UAV and the surrounding air can be assumed to

be much faster than that of the ﬂight trajectories in con-

ventional maneuvering (see Larson [11]). Based on this as-

sumption a frequency domain identiﬁcation technique is

used to ﬁt the model parameters. We have completed the

Received 7 September 2009.

 South China University of Technology and Academy of Mathematics and Systems Science, CAS and Springer-Verlag Berlin Heidelberg 2010

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