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Gradient-Free Cooperative Source-Seeking of Quadrotor Under Disturbances and Communication Constraints
IEEE Transactions on Industrial Electronics ( IF 7.5 ) Pub Date : 7-23-2024 , DOI: 10.1109/tie.2024.3423337
Zhenghong Jin 1 , Hua Li 2 , Zhengyan Qin 3 , Zhanxiu Wang 4
Affiliation  

This article presents a novel design algorithm for the cooperative source-seeking problem using a group of quadrotors equipped with sensors for source scalar field measurement with limited communications. The main objective is to drive the average position state of quadrotors to the optimal point of a given scalar field function while maintaining the desired formation, based on the field value measured by each quadrotor. To achieve this objective, the formation-based source-seeking algorithm is proposed with a cascade structure and the consensus filter, which is composed of a formation controller and a gradient-free optimization algorithm: the formation controller implements the desired formation and provides optimization direction information for the optimization algorithm, while the optimization algorithm generates a movement direction to guide the average position state of quadrotors collectively moving toward the source without estimating gradient, and the consensus filters estimate the centralized quantities. The Lyapunov stability analysis and invariancelike theorem are applied to establish the convergence and robustness of quadrotors’ positions and velocities to the formation and the average position to the optimal point. Finally, the effectiveness of the proposed method is illustrated by a physical experiment and a numerical simulation.

中文翻译:


干扰和通信约束下四旋翼飞行器无梯度协同寻源



本文提出了一种新颖的设计算法,用于解决协作寻源问题,使用一组配备传感器的四旋翼飞行器,以有限的通信进行源标量场测量。主要目标是根据每个四旋翼飞行器测量的场值,将四旋翼飞行器的平均位置状态驱动到给定标量场函数的最佳点,同时保持所需的队形。为了实现这一目标,提出了具有级联结构和一致滤波器的基于编队的寻源算法,该算法由编队控制器和无梯度优化算法组成:编队控制器实现期望的编队并提供优化方向优化算法生成一个运动方向,引导四旋翼飞行器的平均位置状态集体向源移动,而不需要估计梯度,共识滤波器估计集中量。应用李雅普诺夫稳定性分析和类不变定理来建立四旋翼飞行器位置和速度对编队以及对最佳点的平均位置的收敛性和鲁棒性。最后,通过物理实验和数值模拟验证了该方法的有效性。
更新日期:2024-08-22
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