扰动(地质)
计算机科学
控制器(灌溉)
控制理论(社会学)
控制工程
机制(生物学)
摄动(天文学)
控制(管理)
工程类
人工智能
古生物学
哲学
物理
认识论
量子力学
农学
生物
作者
Kexin Guo,Cai Liu,Xiao Zhang,Xiang Yu,Youmin Zhang,Lihua Xie,Lei Guo
标识
DOI:10.1109/tcyb.2022.3217982
摘要
This article presents a bio-inspired safety control scheme for unmanned aerial vehicles (UAVs) in confined environments with disturbance. Although there has been some existing research on the effect of disturbance for a single UAV, multi-UAV formation under external wind disturbances remains challenging, especially in a tight and confined environment. Inspired by nature, this study concentrates on an anti-disturbance mechanism for safe multi-UAV formation in a tight environment. The presented safety control system combines disturbance observer-based control (DOBC), bionic formation switching (BFS) strategy, and safety evaluation. Two safety issues are considered in this article. For a single UAV, the estimated disturbance is compensated in the inner-loop controller. While for multi-UAV formation, the BFS strategy attenuates the effect of external wind disturbance leveraging the formation configuration. The so-called group perturbation immune factor (GPIF) is designed to analyze and evaluate the safety of the overall formation. The experimental results validate the comprehensiveness and anti-disturbance capability of the system.
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