基于自适应动态规划的多飞行器编队控制方法.pdfVIP

工程科学学报，第

47

卷，第

5

期：1094−1102，2025

年

5

月

Chinese

Journal

of

Engineering,

Vol.

47,

No.

5:

1094−1102,

May

2025

/10.13374/j.issn2095-9389.2024.06.04.002;

基于自适应动态规划的多飞行器编队控制方法

1)2)1)1)✉

肖

杰，汤清璞，李嘉乐，李国飞

1)

西北工业大学航天学院，西安

710072

2)

西北工业大学国家卓越工程师学院，西安

710072

✉通信作者，

E-mail:

liguofei1@126.com

摘

要

强化学习理论对解决非线性系统的最优控制问题具有显著优势.

就无人飞行器的最优编队而言，现有的强化学习策

略迭代方法需要具体的动态方程信息，往往只能离线进行，而自适应动态规划方法在参数调节过程中的稳定性较差.

因此，亟

需给出一种可在线执行，又能保证参数稳定调节的编队控制方法.

本文针对模型中存在未知非线性项的多飞行器系统，提出

了可在线逼近最优的分布式编队控制方法.

结合强化学习策略迭代与自适应动态规划在线连续逼近，该编队控制方法继承了

前者的稳定性和后者的在线调节能力，使得调节结果受瞬时强干扰的影响降低，理论分析证明了该方法在干扰作用下能够提

升编队控制系统鲁棒性.

最后分别针对线性定常系统与非线性多飞行器系统仿真验证了所提方法的有效性.

关键词

编队控制；多飞行器系统；最优控制；强化学习；自适应动态规划

分类号

TP273.1

Formation

control

method

for

multiple

flight

vehicles

based

on

adaptive

dynamic

programming

1)2)1)1)✉

XIAOJie，TANGQingpu，LIJiale，LIGuofei

1)

School

of

Astronautics,

Northwestern

Polytechnical

University,

Xi’an

710072,

China

2)

National

Elite

Institute

of

Engineering,

Northwestern

Polytechnical

University,

Xi’an

710072,

China

✉Corresponding

author,

E-mail:

liguofei1@126.com

ABSTRACT

Unmanned

aerial

vehicles

(UAVs)

are

widely

used

across

various

fields,

including

atmospheric

research,

emergency

rescue,

and

cargo

transportation,

demonstrating

their

versatility

and

efficiency

in

both

civil

and

military

applications.

Systems

consisting

of

multiple

UAVs

offer

even

greater

benefits,

enabling

coordinated

surveillance,

complex

rescue

missions,

and

strategic

military

maneuvers.

However,

controlling

such

systems

poses

considerable

challenges

because

of

their

nonlinear

dynamics,

environmental

interference,

and

uncertainties

in

system

models.

To

address

these

challenges,

advanced

control

methods

are

essential.

Reinforcement

learning

theory

has

emerged

as

a

powerful

approach

to

solving

optimal

control

problems

in

nonlinear

systems.

The

theory’s

ab