关键词: 异构无人集群, 分组编队控制, 同步分布式模型预测控制, 避障, 故障容错, 干扰观测器

Abstract: To address the problem of grouping formation control (GFC) for heterogeneous unmanned swarm in complex environments, a formation control algorithm based on synchronous distributed model predictive control (DMPC) is proposed. A grouping and layering control framework is established for heterogeneous swarm as the research object. Corresponding obstacle avoidance strategy, fault isolation strategy, and disturbance compensation method are proposed for the simultaneous existence of obstacles, faults, and disturbances in the environment, and integrated into a complete and feasible formation control scheme based on the control framework. According to the formation control scheme, based on the synchronous DMPC theory, velocity obstacle (VO) method, and disturbance observer (DOB) theory, a heterogeneous unmanned swarm GFC algorithm is designed, which integrates obstacle avoidance, fault tolerance, and disturbance resistance. The stability of the swarm under the algorithm and the bounded convergence of disturbance estimation error are proved. The simulation results show that the heterogeneous unmanned swarm under the designed algorithm has good ability of obstacle avoidance, fault tolerance and disturbance resistance in complex environment.

Key words: heterogeneous unmanned swarm, grouping formation control, synchronous distributed model predictive control, obstacle avoidance, fault tolerance, disturbance observer