CN113009930A - Unmanned airship formation flight trajectory tracking control method and system - Google Patents
Unmanned airship formation flight trajectory tracking control method and system Download PDFInfo
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- CN113009930A CN113009930A CN202110245487.XA CN202110245487A CN113009930A CN 113009930 A CN113009930 A CN 113009930A CN 202110245487 A CN202110245487 A CN 202110245487A CN 113009930 A CN113009930 A CN 113009930A
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- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention relates to a flight trajectory tracking control method and system for formation of unmanned airship. The method comprises the following steps: acquiring an expected track and an expected formation form; determining an expected position and an expected attitude of the piloted unmanned airship according to the expected track; determining a virtual speed controller of a piloted unmanned airship; determining an expected speed and an expected angular speed of the piloted unmanned airship according to a virtual speed controller of the piloted unmanned airship; further determining a fixed time trajectory tracking controller; determining an expected position and an expected posture of the following unmanned airship according to the expected formation; determining a virtual speed controller following the unmanned airship according to the first event triggering condition; determining a second event trigger condition according to the expected speed and the expected angular speed determined by the virtual speed controller following the unmanned airship, and then determining a formation tracking controller according to the second event trigger condition; the invention realizes the track-following flight of unmanned airship formation.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a flight trajectory tracking control method and system for formation of unmanned airship.
Background
An unmanned airship is a lighter-than-air craft that differs from a balloon in most respects by having means for propelling and controlling flight.
The stratospheric unmanned airship has the following application prospects:
1) a communication terminal. When a stratospheric airship platform is at a fixed point height of 20 kilometers, the effective ground coverage area of the stratospheric airship platform can reach tens of thousands of square kilometers, and high-speed communication service can be provided for vast areas.
2) And (5) area monitoring. The stratospheric unmanned airship integrates the advantages of near-earth flight of an aircraft and fixed-point monitoring of a synchronous orbit satellite, and fixed-point high-resolution monitoring can be performed on a specified large-range area.
3) And (4) meteorological observation. The flight height of the unmanned airship on the stratosphere is above the cloud layer, and the unmanned airship can be used for observing extreme meteorological phenomena such as typhoon.
On the basis, a plurality of stratospheric unmanned airships can cooperatively form a network in the air, and the stratospheric unmanned airships can cooperate with satellites and ground base stations to realize wide-area coverage of communication, monitoring and observation. At present, a technical field blank exists for trajectory tracking control of stratospheric unmanned airship formation.
Therefore, a method or a system for controlling the flight trajectory tracking of the formation of the unmanned airship to realize the trajectory tracking flight of the formation of the unmanned airship is needed.
Disclosure of Invention
The invention aims to provide a flight trajectory tracking control method and a flight trajectory tracking control system for formation of unmanned airships, and the trajectory tracking flight of the formation of unmanned airships is realized.
In order to achieve the purpose, the invention provides the following scheme:
a flight trajectory tracking control method for formation of unmanned airship comprises the following steps:
acquiring an expected track and an expected formation form;
determining an expected position and an expected attitude of a piloted unmanned airship according to the expected track;
acquiring the current position and the current attitude of the piloted unmanned airship, and determining a virtual speed controller of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship;
determining an expected speed and an expected angular speed of the piloted unmanned airship according to the virtual speed controller of the piloted unmanned airship;
acquiring the current speed and the current angular speed of the piloted unmanned airship, and determining a fixed time trajectory tracking controller according to the current speed and the current angular speed of the piloted unmanned airship and the expected speed and the expected angular speed of the piloted unmanned airship;
tracking and controlling the piloting unmanned airship according to the fixed time trajectory tracking controller;
determining an expected position and an expected attitude of the following unmanned airship according to the expected formation;
acquiring the current position and the current posture of the following unmanned airship, determining a first measurement error according to the current position and the current posture of the following unmanned airship and the expected position and the expected posture of the following unmanned airship, determining a first event trigger condition according to the first measurement error, and then determining a virtual speed controller of the following unmanned airship according to the first event trigger condition;
determining a desired speed and a desired angular velocity of the following unmanned airship according to the virtual speed controller of the following unmanned airship;
acquiring the current speed and the current angular speed of the following unmanned airship, determining a second measurement error according to the current speed and the current angular speed of the following unmanned airship and the expected speed and the expected angular speed of the following unmanned airship, determining a second event triggering condition according to the second measurement error, and then determining a formation tracking controller according to the second event triggering condition;
and tracking and controlling the following unmanned airship by using a formation tracking controller.
Optionally, the obtaining the current position and the current attitude of the piloted unmanned airship, and determining the virtual speed controller of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship specifically include:
determining a track tracking error of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship;
using formulas
Determining a first Lyapunov function;
using formulas
Determining a first constraint condition;
according to the first constraint condition and formula
Determining a virtual speed controller of a piloted unmanned airship;
wherein, V1Is a first Lyapunov function, P0To pilot the desired position and desired attitude, ξ, of the unmanned airshipP0In order to pilot the trajectory tracking error of the unmanned airship,
for transposing the trajectory tracking error of piloting unmanned airships, k10,k20,k30Eta and mu are respectively control parameters of the piloting unmanned airship and are both more than 0, eta is less than mu,
for navigating the virtual speed control volume of the unmanned airship,
as an airship model matrix, RdFor the desired airship model matrix, ΘdA desired velocity and a desired angular velocity.
Optionally, the obtaining the current speed and the current angular velocity of the piloted unmanned airship, and determining the fixed time trajectory tracking controller according to the current speed and the current angular velocity of the piloted unmanned airship and the expected speed and the expected angular velocity of the piloted unmanned airship specifically include:
determining a speed tracking error of the piloted unmanned airship according to the current speed and the current angular speed of the piloted unmanned airship and the expected speed and the expected angular speed of the piloted unmanned airship;
using formulas
Determining a second Lyapunov function;
using formulas
Determining a second constraint condition;
according to the second constraint condition and formula
Determining a fixed time trajectory tracking controller;
wherein ξΘ0In order to navigate the speed tracking error of the unmanned airship,
is the transpose of the speed tracking error of the piloted unmanned airship0Is the current speed and the current angular velocity, theta, of the piloted unmanned airshipd0For the desired speed and desired angular velocity, k, of the piloted unmanned airship40,k50,k60Respectively control parameters of piloting unmanned airship, and are all more than 0, taud0The control quantity for piloting the unmanned airship corresponds to the six-degree-of-freedom motor thrust and the moment, M, generated by the thrust0A stress analysis correlation matrix for piloting the unmanned airship, t being the current moment,
for a first order differential, N, of the desired velocity and the desired angular velocity of the piloted unmanned airship0For piloting the force components of unmanned airshipsAnd (5) analyzing the correlation matrix.
Optionally, the obtaining of the current position and the current attitude of the following unmanned airship, determining a first measurement error according to the current position and the current attitude of the following unmanned airship and an expected position and an expected attitude of the following unmanned airship, determining a first event trigger condition according to the first measurement error, and then determining the virtual speed controller of the following unmanned airship according to the first event trigger condition specifically includes:
using formulas
Determining a track tracking error of the following unmanned airship;
using formulas
Determining a third Lyapunov function;
using formulas
Determining a third constraint condition;
using formulas
Determining a first measurement error;
using formulas
Determining a first event triggering condition;
using formulas
Determining a virtual speed controller following the unmanned airship;
wherein, PiIn order to follow the current position and the current posture of the unmanned airship, the unmanned airship is navigated when i is 0, and the unmanned airship is followed when i is 1,2,3jIs a reaction with PiCurrent position and current attitude, Δ P, of adjacent following unmanned airshipi,jXi. formation of the desired formationP,iIn order to follow the trajectory tracking error of the unmanned airship,
for following the transpose of the trajectory tracking error of unmanned airships, V3For the third function of Lyapunov,
for controlling input transmission-related event-triggered parameters, ki,1,ki,2,ki,3Respectively follow the control parameters of the unmanned airship and are all larger than 0, eP,i(t) is the current first measurement error,
in order to trigger the moment of time for an event,
triggering a condition for the first event when
When, defined as an event trigger,
following the current virtual speed control, Θ, of the unmanned airshipjFor the current velocity and the current angular velocity of the adjacent following unmanned airship,
Rjare all airship model matrices, diThe degree of entry of the current airship in the airship formation network.
Optionally, the obtaining of the current speed and the current angular velocity of the following unmanned airship, determining a second measurement error according to the current speed and the current angular velocity of the following unmanned airship and the expected speed and the expected angular velocity of the following unmanned airship, determining a second event trigger condition according to the second measurement error, and then determining the formation tracking controller according to the second event trigger condition specifically includes:
using formulas
Determining a speed tracking error of the following unmanned airship;
using formulas
Determining a fourth Lyapunov function;
using formulas
Determining a fourth constraint condition;
using formulas
Determining a second measurement error;
using formulas
Determining a second event trigger condition;
using formulas
Determining a formation tracking controller;
wherein ξΘ,iTo follow the speed tracking error of the unmanned airship, thetaiTo follow the current speed and current angular velocity of the unmanned airship,
to follow the virtual speed control volume of the unmanned airship,
for following the transpose of the speed tracking error of an unmanned airship, V4For the fourth function of Lyapunov,
resolving related events for control outputTrigger parameter, ki,4,ki,5,ki,6Respectively are control parameters of following unmanned airship and are all larger than 0, eΘ,i(t) is the second measurement error,
triggering a condition for a second event when
When, define event triggers, MiIn order to follow the stress analysis correlation matrix of the unmanned airship,
to follow the first differential of the virtual speed control quantity of the unmanned airship, NiFor following the stress analysis correlation matrix, tau, of an unmanned airshipiIn order to follow the control quantity of the unmanned airship, the six-degree-of-freedom motor thrust and the torque generated by the thrust are corresponded.
An unmanned airship formation flight trajectory tracking control system, comprising:
the expected track and expected formation queue form acquisition module is used for acquiring an expected track and an expected formation queue form;
the expected position and expected attitude determination module is used for determining the expected position and expected attitude of the piloted unmanned airship according to the expected track;
the virtual speed controller determining module is used for acquiring the current position and the current attitude of the piloted unmanned airship and determining the virtual speed controller of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship;
the device comprises a module for determining the expected speed and the expected angular speed of a piloted unmanned airship, a module for determining the expected speed and the expected angular speed of the piloted unmanned airship according to a virtual speed controller of the piloted unmanned airship, and a control module for controlling the virtual speed controller of the piloted unmanned airship;
a fixed time trajectory tracking controller determining module, configured to obtain a current speed and a current angular velocity of the piloted unmanned airship, and determine a fixed time trajectory tracking controller according to the current speed and the current angular velocity of the piloted unmanned airship and an expected speed and an expected angular velocity of the piloted unmanned airship;
the piloting unmanned airship tracking control module is used for tracking and controlling the piloting unmanned airship according to the fixed time trajectory tracking controller;
the expected position and expected posture determining module is used for determining the expected position and expected posture of the following unmanned airship according to the expected formation;
the virtual speed controller determining module is used for acquiring the current position and the current posture of the following unmanned airship, determining a first measurement error according to the current position and the current posture of the following unmanned airship and the expected position and the expected posture of the following unmanned airship, determining a first event triggering condition according to the first measurement error, and then determining the virtual speed controller of the following unmanned airship according to the first event triggering condition;
a desired speed and desired angular velocity determination module of a following unmanned airship, configured to determine a desired speed and a desired angular velocity of the following unmanned airship according to a virtual speed controller of the following unmanned airship;
the formation tracking controller determining module is used for acquiring the current speed and the current angular speed of the following unmanned airship, determining a second measurement error according to the current speed and the current angular speed of the following unmanned airship and the expected speed and the expected angular speed of the following unmanned airship, determining a second event triggering condition according to the second measurement error, and then determining the formation tracking controller according to the second event triggering condition;
and the following unmanned airship tracking control module is used for tracking and controlling the following unmanned airship by utilizing the formation tracking controller.
Optionally, the virtual speed controller determining module for piloting the unmanned airship specifically includes:
the device comprises a track tracking error determining unit for the piloted unmanned airship, a track tracking error determining unit and a track tracking error determining unit, wherein the track tracking error determining unit is used for determining the track tracking error of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship;
a first Lyapunov function determination unit for determining a function using a formula
Determining a first Lyapunov function;
a first constraint condition determination unit for using a formula
Determining a first constraint condition;
a virtual speed controller determining unit for piloting the unmanned airship according to the first constraint condition and the formula
Determining a virtual speed controller of a piloted unmanned airship;
wherein, V1Is a first Lyapunov function, P0To pilot the desired position and desired attitude, ξ, of the unmanned airshipP0In order to pilot the trajectory tracking error of the unmanned airship,
for transposing the trajectory tracking error of piloting unmanned airships, k10,k20,k30Eta and mu are respectively control parameters of the piloting unmanned airship and are both more than 0, eta is less than mu,
for navigating the virtual speed control volume of the unmanned airship,
as an airship model matrix, RdFor the desired airship model matrix, ΘdA desired velocity and a desired angular velocity.
Optionally, the determining module of the fixed-time trajectory tracking controller specifically includes:
a speed tracking error determination unit of the piloted unmanned airship, configured to determine a speed tracking error of the piloted unmanned airship according to a current speed and a current angular velocity of the piloted unmanned airship and an expected speed and an expected angular velocity of the piloted unmanned airship;
a second Lyapunov function determination unit for determining a function using the formula
Determining a second Lyapunov function;
a second constraint condition determination unit for using the formula
Determining a second constraint condition;
a fixed time trajectory tracking controller determining unit for determining a fixed time trajectory tracking controller based on the second constraint and a formula
Determining a fixed time trajectory tracking controller;
wherein ξΘ0In order to navigate the speed tracking error of the unmanned airship,
is the transpose of the speed tracking error of the piloted unmanned airship0Is the current speed and the current angular velocity, theta, of the piloted unmanned airshipd0For the desired speed and desired angular velocity, k, of the piloted unmanned airship40,k50,k60Respectively control parameters of piloting unmanned airship, and are all more than 0, taud0The control quantity for piloting the unmanned airship corresponds to the six-degree-of-freedom motor thrust and the moment, M, generated by the thrust0A stress analysis correlation matrix for piloting the unmanned airship, t being the current moment,
for a first order differential, N, of the desired velocity and the desired angular velocity of the piloted unmanned airship0To pilot a pilotAnd (4) analyzing a correlation matrix of the stress of the unmanned airship.
Optionally, the module for determining a virtual speed controller of the following unmanned airship specifically includes:
a trajectory tracking error determination unit following the unmanned airship for utilizing a formula
Determining a track tracking error of the following unmanned airship;
a third Lyapunov function determination unit for determining a function using the formula
Determining a third Lyapunov function;
a third constraint condition determination unit for using the formula
Determining a third constraint condition;
a first measurement error determination unit for using the formula
Determining a first measurement error;
a first event trigger condition determining unit for using a formula
Determining a first event triggering condition;
a virtual speed controller determination unit following the unmanned airship for utilizing a formula
Determining a virtual speed controller following the unmanned airship;
wherein, PiIn order to follow the current position and the current posture of the unmanned airship, the unmanned airship is navigated when i is 0, and the unmanned airship is followed when i is 1,2,3jIs a reaction with PiCurrent position and current attitude, Δ P, of adjacent following unmanned airshipi,jXi. formation of the desired formationP,iIn order to follow the trajectory tracking error of the unmanned airship,
for following the transpose of the trajectory tracking error of unmanned airships, V3For the third function of Lyapunov,
for controlling input transmission-related event-triggered parameters, ki,1,ki,2,ki,3Respectively follow the control parameters of the unmanned airship and are all larger than 0, eP,i(t) is the current first measurement error,
in order to trigger the moment of time for an event,
triggering a condition for the first event when
When, defined as an event trigger,
following the current virtual speed control, Θ, of the unmanned airshipjFor the current velocity and the current angular velocity of the adjacent following unmanned airship,
Rjare all airship model matrices, diThe degree of entry of the current airship in the airship formation network.
Optionally, the formation tracking controller determining module specifically includes:
a speed tracking error determination unit following the unmanned airship for utilizing the formula
Determining a speed tracking error of the following unmanned airship;
a fourth Lyapunov function determination unit for determining a function using the formula
Determining a fourth Lyapunov function;
a fourth constraint condition determination unit for using the formula
Determining a fourth constraint condition;
a second measurement error determination unit for using the formula
Determining a second measurement error;
a second event trigger condition determination unit for using a formula
Determining a second event trigger condition;
a formation tracking controller determination unit for utilizing a formula
Determining a formation tracking controller;
wherein ξΘ,iTo follow the speed tracking error of the unmanned airship, thetaiTo follow the current speed and current angular velocity of the unmanned airship,
to follow the virtual speed control volume of the unmanned airship,
for following the transpose of the speed tracking error of an unmanned airship, V4For the fourth function of Lyapunov,
resolving the relevant event-triggered parameter, k, for control outputi,4,ki,5,ki,6Are respectively provided withIs used for following the control parameters of the unmanned airship and is all larger than 0, eΘ,i(t) is the second measurement error,
triggering a condition for a second event when
When, define event triggers, MiIn order to follow the stress analysis correlation matrix of the unmanned airship,
to follow the first differential of the virtual speed control quantity of the unmanned airship, NiFor following the stress analysis correlation matrix, tau, of an unmanned airshipiIn order to follow the control quantity of the unmanned airship, the six-degree-of-freedom motor thrust and the torque generated by the thrust are corresponded.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a flight trajectory tracking control method and a flight trajectory tracking control system for formation of unmanned airship, which are divided into a trajectory tracking control loop and a formation tracking control loop. In a track tracking control loop, decomposing an expected position and an expected attitude of a piloting airship according to an expected track, then determining a virtual speed controller of the piloting unmanned airship, generating an expected speed and an expected angular velocity of the piloting unmanned airship, then determining a fixed time track tracking controller, and tracking and controlling the expected speed and the expected angular velocity of the piloting unmanned airship, thereby realizing the tracking of the piloting unmanned airship on the expected track; in a formation tracking control loop, determining an expected position and an expected attitude of a following unmanned airship according to neighbor information and an expected formation form in the expected formation form, then determining a virtual speed controller, integrating a first event trigger condition into the virtual speed controller, determining the virtual speed controller of the following unmanned airship, generating an expected speed and an expected angle of the following unmanned airship according to the virtual speed controller of the following unmanned airship, determining a fixed-time formation tracking controller, integrating a second event trigger condition into the fixed-time formation tracking controller, determining a formation tracking controller, and tracking the expected speed and the expected angle of the following unmanned airship according to the formation tracking controller, thereby realizing the tracking of the following unmanned airship on the piloting unmanned airship and the expected formation form.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a flight trajectory tracking control method for formation of an unmanned airship according to the present invention;
FIG. 2 is a schematic diagram illustrating a principle of a flight trajectory tracking control method for formation of an unmanned airship according to the present invention;
FIG. 3 is a schematic view of an unmanned airship provided by the present invention;
fig. 4 is a schematic structural diagram of a flight trajectory tracking control system for formation of unmanned airship according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a flight trajectory tracking control method and a flight trajectory tracking control system for formation of unmanned airships, and the trajectory tracking flight of the formation of unmanned airships is realized.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic flow chart of a method for controlling flight trajectory tracking of formation of an unmanned airship according to the present invention, fig. 2 is a schematic diagram of a method for controlling flight trajectory tracking of formation of an unmanned airship according to the present invention, and fig. 1 and 2 show a method for controlling flight trajectory tracking of formation of an unmanned airship, including:
s101, acquiring an expected track and an expected formation form; wherein the desired trajectory is Pd＝[xd,yd,zd,φd,θd,ψd]T，xd,yd,zdFor a desired position in relation to time, phid,θd,ψdIs the desired attitude angle with time; the expected formation is delta Pi,j＝[Δxi,j,Δyi,j,Δzi,j,Δφi,j,Δθi,j,Δψi,j]T，Δxi,j,Δyi,j,Δzi,jFor a desired formation independent of time, Δ φi,j,Δθi,j,Δψi,jIn the control of the formation of an airship, 0 is generally set.
And S102, determining the expected position and the expected attitude of the piloted unmanned airship according to the expected track.
S103, acquiring the current position and the current posture of the piloted unmanned airship, and determining the virtual speed controller of the piloted unmanned airship according to the current position and the current posture of the piloted unmanned airship and the expected position and the expected posture of the piloted unmanned airship.
S103 specifically comprises the following steps:
and determining the track tracking error of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship.
Using formulas
A first Lyapunov function is determined.
Using formulas
A first constraint is determined.
The derivation of the above equation is as follows:
according to the first constraint condition and formula
And determining a virtual speed controller of the piloted unmanned airship.
Wherein, V1Is a first Lyapunov function, P0To pilot the desired position and desired attitude, ξ, of the unmanned airshipP0In order to pilot the trajectory tracking error of the unmanned airship,
for transposing the trajectory tracking error of piloting unmanned airships, k10,k20,k30Eta and mu are respectively control parameters of the piloting unmanned airship and are both more than 0, eta is less than mu,
for navigating the virtual speed control volume of the unmanned airship,
as an airship model matrix, RdFor the desired airship model matrix, ΘdA desired velocity and a desired angular velocity.
And S104, determining the expected speed and the expected angular speed of the piloted unmanned airship according to the virtual speed controller of the piloted unmanned airship.
And S105, acquiring the current speed and the current angular speed of the piloted unmanned airship, and determining a fixed time trajectory tracking controller according to the current speed and the current angular speed of the piloted unmanned airship and the expected speed and the expected angular speed of the piloted unmanned airship.
S105 specifically comprises the following steps:
and determining the speed tracking error of the piloted unmanned airship according to the current speed and the current angular speed of the piloted unmanned airship and the expected speed and the expected angular speed of the piloted unmanned airship.
Using formulas
A second Lyapunov function is determined.
Using formulas
A second constraint is determined.
The derivation of the above equation is as follows:
according to the second constraint condition and formula
A fixed time trajectory tracking controller is determined.
Wherein ξΘ0In order to navigate the speed tracking error of the unmanned airship,
is the transpose of the speed tracking error of the piloted unmanned airship0Is the current speed and the current angular velocity, theta, of the piloted unmanned airshipd0For the desired speed and desired angular velocity, k, of the piloted unmanned airship40,k50,k60Respectively control parameters of piloting unmanned airship, and are all more than 0, taud0The control quantity for piloting the unmanned airship corresponds to the six-degree-of-freedom motor thrust and the moment, M, generated by the thrust0A stress analysis correlation matrix for piloting the unmanned airship, t being the current moment,
expectation for said piloted unmanned airshipFirst order differential of velocity and desired angular velocity, N0And analyzing a correlation matrix for the stress of the piloted unmanned airship.
S106, controlling the piloting unmanned airship in a tracking manner according to the fixed time trajectory tracking controller;
s107, determining an expected position and an expected posture of the unmanned airship to follow according to the expected formation;
s108, obtaining the current position and the current posture of the following unmanned airship, determining a first measurement error according to the current position and the current posture of the following unmanned airship and the expected position and the expected posture of the following unmanned airship, determining a first event triggering condition according to the first measurement error, and then determining the virtual speed controller of the following unmanned airship according to the first event triggering condition.
S108 specifically comprises the following steps:
using formulas
And determining the track tracking error of the following unmanned airship.
Using formulas
A third Lyapunov function is determined.
Using formulas
A third constraint is determined.
The derivation of the above equation is as follows:
using formulas
A first measurement error is determined.
Using formulas
A first event triggering condition is determined.
Using formulas
A virtual speed controller that follows the unmanned airship is determined.
Wherein, PiIn order to follow the current position and the current posture of the unmanned airship, the unmanned airship is navigated when i is 0, and the unmanned airship is followed when i is 1,2,3jIs a reaction with PiCurrent position and current attitude, Δ P, of adjacent following unmanned airshipi,jXi. formation of the desired formationP,iIn order to follow the trajectory tracking error of the unmanned airship,
for following the transpose of the trajectory tracking error of unmanned airships, V3For the third function of Lyapunov,
for controlling input transmission-related event-triggered parameters, ki,1,ki,2,ki,3Respectively follow the control parameters of the unmanned airship and are all larger than 0, eP,i(t) is the current first measurement error,
in order to trigger the moment of time for an event,
triggering a condition for the first event when
When, defined as an event trigger,
following the current virtual speed control, Θ, of the unmanned airshipjFor the current velocity and the current angular velocity of the adjacent following unmanned airship,
Rjare all airship model matrices, diThe degree of entry of the current airship in the airship formation network.
S109, determining the expected speed and the expected angular speed of the following unmanned airship according to the virtual speed controller of the following unmanned airship.
S110, obtaining the current speed and the current angular velocity of the following unmanned airship, determining a second measurement error according to the current speed and the current angular velocity of the following unmanned airship and the expected speed and the expected angular velocity of the following unmanned airship, determining a second event trigger condition according to the second measurement error, and then determining a formation tracking controller according to the second event trigger condition.
S110 specifically comprises:
using formulas
And determining the speed tracking error of the following unmanned airship.
Using formulas
A fourth Lyapunov function is determined.
Using formulas
A fourth constraint is determined.
The derivation of the above equation is as follows:
using formulas
A second measurement error is determined.
Using formulas
A second event trigger condition is determined.
Using formulas
Determining a formation tracking controller.
Wherein ξΘ,iTo follow the speed tracking error of the unmanned airship, thetaiTo follow the current speed and current angular velocity of the unmanned airship,
to follow the virtual speed control volume of the unmanned airship,
for following the transpose of the speed tracking error of an unmanned airship, V4For the fourth function of Lyapunov,
resolving the relevant event-triggered parameter, k, for control outputi,4,ki,5,ki,6Respectively are control parameters of following unmanned airship and are all larger than 0, eΘ,i(t) is the second measurement error,
triggering a condition for a second event when
When, define event triggers, MiIn order to follow the stress analysis correlation matrix of the unmanned airship,
to follow the first differential of the virtual speed control quantity of the unmanned airship, NiFor following the stress analysis correlation matrix, tau, of an unmanned airshipiIn order to follow the control quantity of the unmanned airship, the six-degree-of-freedom motor thrust and the torque generated by the thrust are corresponded.
Θi＝[u,v,w,p,q,r]TWhen i is 0, the airship is a piloting unmanned airship, and when i is 1,2, 3.
N＝N1+N2+N3(ii) a Wherein, the formula is as follows:
as shown in fig. 3, x is the north position of the unmanned airship, y is the east distance of the unmanned airship, z is the vertical position of the unmanned airship, the direction is downward, phi is the rolling angle of the unmanned airship, theta is the pitch angle of the unmanned airship, psi is the yaw angle of the unmanned airship, u is the forward speed of the airship, the direction is forward, v is the lateral speed of the unmanned airship, the direction is rightward, w is the vertical speed of the unmanned airship, and the direction is downward; p is the roll angular velocity of the unmanned airship; q is the pitch angle speed of the unmanned airship, r is the yaw angle speed of the unmanned airship, v is the volume of the unmanned airship, and ρ is the atmospheric density; x is the number ofg,yg,zgRespectively, the gravity center position, I, of the unmanned airshipx,Iy,IzAre respectively the moment of inertia of the unmanned airship, IxzIs the inertia product of unmanned airship k1,k2,k3Respectively, an inertia factor of the unmanned airship, BfIs buoyancy of the unmanned airship, m is mass of the unmanned airship, g is acceleration of gravity, Fa，MaThe aerodynamic force and the aerodynamic moment of the airship are provided.
And S111, tracking and controlling the following unmanned airship by using a formation tracking controller.
The unmanned airship formation flight track tracking control method provided by the invention can realize the tracking of the piloting unmanned airship and the formation shape of the expected formation along with the unmanned airship while realizing the tracking of the desired track by the piloting unmanned airship. The method realizes the fixed time stability of the whole formation system, namely, the tracking error can be eliminated to be 0 in the fixed time irrelevant to the initial state. According to the method, by designing an event trigger mechanism, the control input transmission frequency and the control output resolving frequency are greatly reduced, and bandwidth resources and computing resources are greatly saved.
In the application process, a control engineer can give any expected track and expected formation form according to actual airship formation, and the control quantity calculated by the method is directly transmitted to an actuating mechanism to realize track tracking and formation generation.
Fig. 4 is a schematic structural diagram of a flight trajectory tracking control system for formation of an unmanned airship, as shown in fig. 4, the flight trajectory tracking control system for formation of an unmanned airship according to the present invention includes:
and an expected track and expected formation queue shape obtaining module 401, configured to obtain an expected track and an expected formation queue shape.
A desired position and desired attitude determination module 402 for determining a desired position and a desired attitude of the piloted unmanned airship according to the desired trajectory.
A virtual speed controller determining module 403 of the piloted unmanned airship, configured to obtain a current position and a current attitude of the piloted unmanned airship, and determine the virtual speed controller of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and an expected position and an expected attitude of the piloted unmanned airship.
A desired speed and desired angular velocity determination module 404 for determining a desired speed and a desired angular velocity of the piloted unmanned airship according to the virtual speed controller of the piloted unmanned airship.
A fixed time trajectory tracking controller determining module 405, configured to obtain a current speed and a current angular velocity of the piloted unmanned airship, and determine a fixed time trajectory tracking controller according to the current speed and the current angular velocity of the piloted unmanned airship and an expected speed and an expected angular velocity of the piloted unmanned airship.
And the piloting unmanned airship tracking control module 406 is used for tracking and controlling the piloting unmanned airship according to the fixed time trajectory tracking controller.
And a desired position and desired attitude determination module 407 for following the unmanned airship, for determining a desired position and a desired attitude of following the unmanned airship according to the desired formation.
The virtual speed controller determination module 408 of the following unmanned airship is configured to obtain a current position and a current attitude of the following unmanned airship, determine a first measurement error according to the current position and the current attitude of the following unmanned airship and an expected position and an expected attitude of the following unmanned airship, determine a first event trigger condition according to the first measurement error, and then determine the virtual speed controller of the following unmanned airship according to the first event trigger condition.
A desired speed and desired angular velocity determination module 409 for determining a desired speed and a desired angular velocity of the following unmanned airship according to the virtual speed controller of the following unmanned airship;
the formation tracking controller determining module 410 is configured to obtain a current speed and a current angular velocity of the following unmanned airship, determine a second measurement error according to the current speed and the current angular velocity of the following unmanned airship and an expected speed and an expected angular velocity of the following unmanned airship, determine a second event triggering condition according to the second measurement error, and then determine the formation tracking controller according to the second event triggering condition.
And the following unmanned airship tracking control module 411 is used for tracking and controlling the following unmanned airship by using the formation tracking controller.
The virtual speed controller determining module 403 for piloting the unmanned airship specifically includes:
and the track tracking error determining unit is used for determining the track tracking error of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship.
A first Lyapunov function determination unit for determining a function using a formula
A first Lyapunov function is determined.
A first constraint condition determination unit for using a formula
A first constraint is determined.
A virtual speed controller determining unit for piloting the unmanned airship according to the first constraint condition and the formula
And determining a virtual speed controller of the piloted unmanned airship.
Wherein, V1Is a first Lyapunov function, P0To pilot the desired position and desired attitude, ξ, of the unmanned airshipP0In order to pilot the trajectory tracking error of the unmanned airship,
for transposing the trajectory tracking error of piloting unmanned airships, k10,k20,k30Eta and mu are respectively control parameters of the piloting unmanned airship and are both more than 0, eta is less than mu,
for navigating the virtual speed control volume of the unmanned airship,
as an airship model matrix, RdFor the desired airship model matrix, ΘdA desired velocity and a desired angular velocity.
The fixed time trajectory tracking controller determining module 405 specifically includes:
and the speed tracking error determining unit is used for determining the speed tracking error of the piloted unmanned airship according to the current speed and the current angular speed of the piloted unmanned airship and the expected speed and the expected angular speed of the piloted unmanned airship.
A second Lyapunov function determination unit for determining a function using the formula
A second Lyapunov function is determined.
A second constraint condition determination unit for using the formula
A second constraint is determined.
A fixed time trajectory tracking controller determining unit for determining a fixed time trajectory tracking controller based on the second constraint and a formula
A fixed time trajectory tracking controller is determined.
Wherein ξΘ0In order to navigate the speed tracking error of the unmanned airship,
is the transpose of the speed tracking error of the piloted unmanned airship0Is the current speed and the current angular velocity, theta, of the piloted unmanned airshipd0For the desired speed and desired angular velocity, k, of the piloted unmanned airship40,k50,k60Respectively control parameters of piloting unmanned airship, and are all more than 0, taud0The control quantity for piloting the unmanned airship corresponds to the six-degree-of-freedom motor thrust and the moment, M, generated by the thrust0A stress analysis correlation matrix for piloting the unmanned airship, t being the current moment,
for a first order differential, N, of the desired velocity and the desired angular velocity of the piloted unmanned airship0And analyzing a correlation matrix for the stress of the piloted unmanned airship.
The module 408 for determining a virtual speed controller of the following unmanned airship specifically includes:
a trajectory tracking error determination unit following the unmanned airship for utilizing a formula
And determining the track tracking error of the following unmanned airship.
A third Lyapunov function determination unit for determining a function using the formula
A third Lyapunov function is determined.
A third constraint condition determination unit for using the formula
A third constraint is determined.
A first measurement error determination unit for using the formula
A first measurement error is determined.
A first event trigger condition determining unit for using a formula
A first event triggering condition is determined.
A virtual speed controller determination unit following the unmanned airship for utilizing a formula
A virtual speed controller that follows the unmanned airship is determined.
Wherein, PiIn order to follow the current position and the current posture of the unmanned airship, the unmanned airship is navigated when i is 0, and the unmanned airship is followed when i is 1,2,3jIs a reaction with PiCurrent position and current attitude, Δ P, of adjacent following unmanned airshipi,jXi. formation of the desired formationP,iIn order to follow the trajectory tracking error of the unmanned airship,
for following the transpose of the trajectory tracking error of unmanned airships, V3For the third function of Lyapunov,
for controlling input transmission-related event-triggered parameters, ki,1,ki,2,ki,3Respectively follow the control parameters of the unmanned airship and are all larger than 0, eP,i(t) is the current first measurement error,
in order to trigger the moment of time for an event,
triggering a condition for the first event when
When, defined as an event trigger,
following the current virtual speed control, Θ, of the unmanned airshipjFor the current velocity and the current angular velocity of the adjacent following unmanned airship,
Rjare all airship model matrices, diThe degree of entry of the current airship in the airship formation network.
The formation tracking controller determining module 410 specifically includes:
a speed tracking error determination unit following the unmanned airship for utilizing the formula
And determining the speed tracking error of the following unmanned airship.
A fourth Lyapunov function determination unit for determining a function using the formula
A fourth Lyapunov function is determined.
A fourth constraint condition determination unit for using the formula
A fourth constraint is determined.
A second measurement error determination unit for using the formula
A second measurement error is determined.
A second event trigger condition determination unit for using a formula
A second event trigger condition is determined.
A formation tracking controller determination unit for utilizing a formula
Determining a formation tracking controller.
Wherein ξΘ,iTo follow the speed tracking error of the unmanned airship, thetaiTo follow the current speed and current angular velocity of the unmanned airship,
to follow the virtual speed control volume of the unmanned airship,
for following the transpose of the speed tracking error of an unmanned airship, V4For the fourth function of Lyapunov,
resolving the relevant event-triggered parameter, k, for control outputi,4,ki,5,ki,6Respectively are control parameters of following unmanned airship and are all larger than 0, eΘ,i(t) is the second measurement error,
triggering a condition for a second event when
When, define event triggers, MiIn order to follow the stress analysis correlation matrix of the unmanned airship,
to follow the first differential of the virtual speed control quantity of the unmanned airship, NiFor following the stress analysis correlation matrix, tau, of an unmanned airshipiIn order to follow the control quantity of the unmanned airship, the six-degree-of-freedom motor thrust and the torque generated by the thrust are corresponded.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A flight trajectory tracking control method for formation of unmanned airship is characterized by comprising the following steps:
acquiring an expected track and an expected formation form;
determining an expected position and an expected attitude of a piloted unmanned airship according to the expected track;
acquiring the current position and the current attitude of the piloted unmanned airship, and determining a virtual speed controller of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship;
determining an expected speed and an expected angular speed of the piloted unmanned airship according to the virtual speed controller of the piloted unmanned airship;
acquiring the current speed and the current angular speed of the piloted unmanned airship, and determining a fixed time trajectory tracking controller according to the current speed and the current angular speed of the piloted unmanned airship and the expected speed and the expected angular speed of the piloted unmanned airship;
tracking and controlling the piloting unmanned airship according to the fixed time trajectory tracking controller;
determining an expected position and an expected attitude of the following unmanned airship according to the expected formation;
acquiring the current position and the current posture of the following unmanned airship, determining a first measurement error according to the current position and the current posture of the following unmanned airship and the expected position and the expected posture of the following unmanned airship, determining a first event trigger condition according to the first measurement error, and then determining a virtual speed controller of the following unmanned airship according to the first event trigger condition;
determining a desired speed and a desired angular velocity of the following unmanned airship according to the virtual speed controller of the following unmanned airship;
acquiring the current speed and the current angular speed of the following unmanned airship, determining a second measurement error according to the current speed and the current angular speed of the following unmanned airship and the expected speed and the expected angular speed of the following unmanned airship, determining a second event triggering condition according to the second measurement error, and then determining a formation tracking controller according to the second event triggering condition;
and tracking and controlling the following unmanned airship by using a formation tracking controller.
2. The method according to claim 1, wherein the obtaining of the current position and the current attitude of the piloted unmanned airship and the determining of the virtual speed controller of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship specifically comprise:
determining a track tracking error of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship;
using formulas
Determining a first Lyapunov function;
using formulas
Determining a first constraint condition;
according to the first constraint condition and formula
Determining a virtual speed controller of a piloted unmanned airship;
wherein, V1Is a first Lyapunov function, P0To pilot the desired position and desired attitude, ξ, of the unmanned airshipP0In order to pilot the trajectory tracking error of the unmanned airship,
for transposing the trajectory tracking error of piloting unmanned airships, k10,k20,k30Eta and mu are respectively control parameters of the piloting unmanned airship and are both more than 0, eta is less than mu,
for navigating the virtual speed control volume of the unmanned airship,
as an airship model matrix, RdFor the desired airship model matrix, ΘdA desired velocity and a desired angular velocity.
3. The method according to claim 2, wherein the step of obtaining the current speed and the current angular velocity of the piloted unmanned airship and determining the fixed-time trajectory tracking controller according to the current speed and the current angular velocity of the piloted unmanned airship and the expected speed and the expected angular velocity of the piloted unmanned airship specifically comprises:
determining a speed tracking error of the piloted unmanned airship according to the current speed and the current angular speed of the piloted unmanned airship and the expected speed and the expected angular speed of the piloted unmanned airship;
using formulas
Determining a second Lyapunov function;
using formulas
Determining a second constraint condition;
according to the second constraint condition and formula
Determining a fixed time trajectory tracking controller;
wherein ξΘ0In order to navigate the speed tracking error of the unmanned airship,
is the transpose of the speed tracking error of the piloted unmanned airship0Is the current speed and the current angular velocity, theta, of the piloted unmanned airshipd0For the desired speed and desired angular velocity, k, of the piloted unmanned airship40,k50,k60Respectively control parameters of piloting unmanned airship, and are all more than 0, taud0Control for piloting unmanned airshipAmount, corresponding to six degrees of freedom motor thrust and torque produced by the thrust, M0A stress analysis correlation matrix for piloting the unmanned airship, t being the current moment,
for a first order differential, N, of the desired velocity and the desired angular velocity of the piloted unmanned airship0And analyzing a correlation matrix for the stress of the piloted unmanned airship.
4. The method as claimed in claim 3, wherein the obtaining of the current position and the current attitude of the following unmanned airship, determining a first measurement error according to the current position and the current attitude of the following unmanned airship and the expected position and the expected attitude of the following unmanned airship, determining a first event trigger condition according to the first measurement error, and then determining the virtual speed controller of the following unmanned airship according to the first event trigger condition, specifically comprises:
using formulas
Determining a track tracking error of the following unmanned airship;
using formulas
Determining a third Lyapunov function;
using formulas
Determining a third constraint condition;
using formulas
Determining a first measurement error;
using formulas
Determining a first event triggering condition;
using formulas
Determining a virtual speed controller following the unmanned airship;
wherein, PiIn order to follow the current position and the current posture of the unmanned airship, the unmanned airship is navigated when i is 0, and the unmanned airship is followed when i is 1,2,3jIs a reaction with PiCurrent position and current attitude, Δ P, of adjacent following unmanned airshipi,jXi. formation of the desired formationP,iIn order to follow the trajectory tracking error of the unmanned airship,
for following the transpose of the trajectory tracking error of unmanned airships, V3For the third function of Lyapunov,
for controlling input transmission-related event-triggered parameters, ki,1,ki,2,ki,3Respectively follow the control parameters of the unmanned airship and are all larger than 0, eP,i(t) is the current first measurement error,
in order to trigger the moment of time for an event,
triggering a condition for the first event when
When, defined as an event trigger,
following the current virtual speed control, Θ, of the unmanned airshipjFor the current velocity and the current angular velocity of the adjacent following unmanned airship,
Rjare all airship model matrices, diThe degree of entry of the current airship in the airship formation network.
5. The method as claimed in claim 4, wherein the obtaining of the current velocity and the current angular velocity of the following unmanned airship, determining a second measurement error according to the current velocity and the current angular velocity of the following unmanned airship and the expected velocity and the expected angular velocity of the following unmanned airship, determining a second event trigger condition according to the second measurement error, and determining the formation tracking controller according to the second event trigger condition specifically comprises:
using formulas
Determining a speed tracking error of the following unmanned airship;
using formulas
Determining a fourth Lyapunov function;
using formulas
Determining a fourth constraint condition;
using formulas
Determining a second measurement error;
using formulas
Determining a second event trigger condition;
by usingFormula (II)
Determining a formation tracking controller;
wherein ξΘ,iTo follow the speed tracking error of the unmanned airship, thetaiTo follow the current speed and current angular velocity of the unmanned airship,
to follow the virtual speed control volume of the unmanned airship,
for following the transpose of the speed tracking error of an unmanned airship, V4For the fourth function of Lyapunov,
resolving the relevant event-triggered parameter, k, for control outputi,4,ki,5,ki,6Respectively are control parameters of following unmanned airship and are all larger than 0, eΘ,i(t) is the second measurement error,
triggering a condition for a second event when
When, define event triggers, MiIn order to follow the stress analysis correlation matrix of the unmanned airship,
to follow the first differential of the virtual speed control quantity of the unmanned airship, NiFor following the stress analysis correlation matrix, tau, of an unmanned airshipiIn order to follow the control quantity of the unmanned airship, the six-degree-of-freedom motor thrust and the torque generated by the thrust are corresponded.
6. An unmanned airship formation flight trajectory tracking control system is characterized by comprising:
the expected track and expected formation queue form acquisition module is used for acquiring an expected track and an expected formation queue form;
the expected position and expected attitude determination module is used for determining the expected position and expected attitude of the piloted unmanned airship according to the expected track;
the virtual speed controller determining module is used for acquiring the current position and the current attitude of the piloted unmanned airship and determining the virtual speed controller of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship;
the device comprises a module for determining the expected speed and the expected angular speed of a piloted unmanned airship, a module for determining the expected speed and the expected angular speed of the piloted unmanned airship according to a virtual speed controller of the piloted unmanned airship, and a control module for controlling the virtual speed controller of the piloted unmanned airship;
a fixed time trajectory tracking controller determining module, configured to obtain a current speed and a current angular velocity of the piloted unmanned airship, and determine a fixed time trajectory tracking controller according to the current speed and the current angular velocity of the piloted unmanned airship and an expected speed and an expected angular velocity of the piloted unmanned airship;
the piloting unmanned airship tracking control module is used for tracking and controlling the piloting unmanned airship according to the fixed time trajectory tracking controller;
the expected position and expected posture determining module is used for determining the expected position and expected posture of the following unmanned airship according to the expected formation;
the virtual speed controller determining module is used for acquiring the current position and the current posture of the following unmanned airship, determining a first measurement error according to the current position and the current posture of the following unmanned airship and the expected position and the expected posture of the following unmanned airship, determining a first event triggering condition according to the first measurement error, and then determining the virtual speed controller of the following unmanned airship according to the first event triggering condition;
a desired speed and desired angular velocity determination module of a following unmanned airship, configured to determine a desired speed and a desired angular velocity of the following unmanned airship according to a virtual speed controller of the following unmanned airship;
the formation tracking controller determining module is used for acquiring the current speed and the current angular speed of the following unmanned airship, determining a second measurement error according to the current speed and the current angular speed of the following unmanned airship and the expected speed and the expected angular speed of the following unmanned airship, determining a second event triggering condition according to the second measurement error, and then determining the formation tracking controller according to the second event triggering condition;
and the following unmanned airship tracking control module is used for tracking and controlling the following unmanned airship by utilizing the formation tracking controller.
7. The unmanned airship formation flight trajectory tracking control system according to claim 6, wherein the virtual speed controller determining module for piloting the unmanned airship specifically comprises:
the device comprises a track tracking error determining unit for the piloted unmanned airship, a track tracking error determining unit and a track tracking error determining unit, wherein the track tracking error determining unit is used for determining the track tracking error of the piloted unmanned airship according to the current position and the current attitude of the piloted unmanned airship and the expected position and the expected attitude of the piloted unmanned airship;
a first Lyapunov function determination unit for determining a function using a formula
Determining a first Lyapunov function;
a first constraint condition determination unit for using a formula
Determining a first constraint condition;
a virtual speed controller determining unit for piloting the unmanned airship according to the first constraint condition and the formula
Determining a virtual speed controller of a piloted unmanned airship;
wherein, V1Is a first Lyapunov function, P0To pilot the desired position and desired attitude, ξ, of the unmanned airshipP0In order to pilot the trajectory tracking error of the unmanned airship,
for transposing the trajectory tracking error of piloting unmanned airships, k10,k20,k30Eta and mu are respectively control parameters of the piloting unmanned airship and are both more than 0, eta is less than mu,
for navigating the virtual speed control volume of the unmanned airship,
as an airship model matrix, RdFor the desired airship model matrix, ΘdA desired velocity and a desired angular velocity.
8. The unmanned airship formation flight trajectory tracking control system according to claim 7, wherein the fixed-time trajectory tracking controller determination module specifically includes:
a speed tracking error determination unit of the piloted unmanned airship, configured to determine a speed tracking error of the piloted unmanned airship according to a current speed and a current angular velocity of the piloted unmanned airship and an expected speed and an expected angular velocity of the piloted unmanned airship;
a second Lyapunov function determination unit for determining a function using the formula
Determining a second Lyapunov function;
a second constraint condition determination unit for using the formula
Determining a second constraint condition;
a fixed time trajectory tracking controller determining unit for determining a fixed time trajectory tracking controller based on the second constraint and a formula
Determining a fixed time trajectory tracking controller;
wherein ξΘ0In order to navigate the speed tracking error of the unmanned airship,
is the transpose of the speed tracking error of the piloted unmanned airship0Is the current speed and the current angular velocity, theta, of the piloted unmanned airshipd0For the desired speed and desired angular velocity, k, of the piloted unmanned airship40,k50,k60Respectively control parameters of piloting unmanned airship, and are all more than 0, taud0The control quantity for piloting the unmanned airship corresponds to the six-degree-of-freedom motor thrust and the moment, M, generated by the thrust0A stress analysis correlation matrix for piloting the unmanned airship, t being the current moment,
for a first order differential, N, of the desired velocity and the desired angular velocity of the piloted unmanned airship0And analyzing a correlation matrix for the stress of the piloted unmanned airship.
9. The unmanned airship formation flight trajectory tracking control system according to claim 8, wherein the virtual speed controller determination module of the following unmanned airship specifically comprises:
a trajectory tracking error determination unit following the unmanned airship for utilizing a formula
Determining to follow unmanned airshipA track following error;
a third Lyapunov function determination unit for determining a function using the formula
Determining a third Lyapunov function;
a third constraint condition determination unit for using the formula
Determining a third constraint condition;
a first measurement error determination unit for using the formula
Determining a first measurement error;
a first event trigger condition determining unit for using a formula
Determining a first event triggering condition;
a virtual speed controller determination unit following the unmanned airship for utilizing a formula
Determining a virtual speed controller following the unmanned airship;
wherein, PiIn order to follow the current position and the current posture of the unmanned airship, the unmanned airship is navigated when i is 0, and the unmanned airship is followed when i is 1,2,3jIs a reaction with PiCurrent position and current attitude, Δ P, of adjacent following unmanned airshipi,jXi. formation of the desired formationP,iIn order to follow the trajectory tracking error of the unmanned airship,
for following the transpose of the trajectory tracking error of unmanned airships, V3For the third function of Lyapunov,
for controlling input transmission-related event-triggered parameters, ki,1,ki,2,ki,3Respectively follow the control parameters of the unmanned airship and are all larger than 0, eP,i(t) is the current first measurement error,
in order to trigger the moment of time for an event,
triggering a condition for the first event when
When, defined as an event trigger,
following the current virtual speed control, Θ, of the unmanned airshipjFor the current velocity and the current angular velocity of the adjacent following unmanned airship,
Rjare all airship model matrices, diThe degree of entry of the current airship in the airship formation network.
10. The unmanned airship formation flight trajectory tracking control system according to claim 9, wherein the formation tracking controller determination module specifically includes:
a speed tracking error determination unit following the unmanned airship for utilizing the formula
Determining a speed tracking error of the following unmanned airship;
a fourth Lyapunov function determination unit for determining a function using the formula
Determining a fourth Lyapunov function;
a fourth constraint condition determination unit for using the formula
Determining a fourth constraint condition;
a second measurement error determination unit for using the formula
Determining a second measurement error;
a second event trigger condition determination unit for using a formula
Determining a second event trigger condition;
a formation tracking controller determination unit for utilizing a formula
Determining a formation tracking controller;
wherein ξΘ,iTo follow the speed tracking error of the unmanned airship, thetaiTo follow the current speed and current angular velocity of the unmanned airship,
to follow the virtual speed control volume of the unmanned airship,
for following the transpose of the speed tracking error of an unmanned airship, V4For the fourth function of Lyapunov,
resolving the relevant event-triggered parameter, k, for control outputi,4,ki,5,ki,6Respectively, as control parameters for following the unmanned airshipAnd are each greater than 0, eΘ,i(t) is the second measurement error,
triggering a condition for a second event when
When, define event triggers, MiIn order to follow the stress analysis correlation matrix of the unmanned airship,
to follow the first differential of the virtual speed control quantity of the unmanned airship, NiFor following the stress analysis correlation matrix, tau, of an unmanned airshipiIn order to follow the control quantity of the unmanned airship, the six-degree-of-freedom motor thrust and the torque generated by the thrust are corresponded.
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