基于动态参数扩展控制障碍函数的无人机时变编队最优跟踪控制

Aiming at the issue of optimal energy consumption of UAV time-varying formation under multiple constraints, an optimal control method based on an dynamic parameter extended high-order control barrier function is proposed. The method is used to improve the existing high-order control barrier function. In consideration of the motion states of UAV and obstacles, an the extended state dynamics model is established. The safety constraints of dynamic target obstacle avoidance are expanded on the extended state dynamics model, and the extended high-order control barrier function used to establish dynamic target obstacle avoidanceis obtained. For the feasibility and conservatism of the extended high-order control barrier function constraints,the adaptive rules of the class K function parameter are designed to obtain the dynamic parameter extended high-order control barrier function, which improves the feasibility and reduces the conservatism for the solution of constraint optimization problem. The control barrier function and the extended high-order control barrier function are used to establish the multiconstraints, and an objective function is established by the consistency condition and Hamiltonian analysis. The energy consumption optimization problem of time-varying formation is transformed into a multi-constraint optimization problem, and the quadratic programming is used to solve the problem to obtain the optimal control input. Simulated results demonstrate that the proposed method has superior obstacle avoidance and lower energy consumption compared to the fixed parameter high-order control obstacle functions and the artificial potential field.