实用分布式控制用于VTOL无人机通过虚拟管
Practical Distributed Control for VTOL UAVs to Pass a Virtual Tube
AI总结：
本文提出了一种实用的分布式控制方法，用于VTOL无人机通过虚拟管，解决碰撞避免和保持在虚拟管内的问题，并通过实验验证了方法的有效性。
摘要：
无人机现在正越来越被业余和商业用户所接受。一个空管系统是必要的，以帮助确保这一新的天空进入者不会与其他物体相撞。在空管系统中，空域可以由航路、交叉点和节点组成。在本文中，为了简化，重点是分布式协调垂直起降（VTOL）无人机通过航路的运动。这被公式化为虚拟管通过问题，包括通过虚拟管、机间碰撞避免和保持在虚拟管内。设计了精心设计的Lyapunov-like函数，并基于不变集定理进行正式分析，以证明所有无人机可以通过虚拟管而不被卡住，避免碰撞并保持在虚拟管内。此外，通过所提出的分布式控制，一旦VTOL无人机进入另一个的安全区域或在通过虚拟管时与虚拟管发生碰撞，它可以迅速远离另一个VTOL无人机或返回虚拟管。进行了模拟和实验以展示所提出方法的有效性以及与其他方法的比较。
英文摘要：
Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. An air traffic management (ATM) system is needed to help ensure that this newest entrant into the skies does not collide with others. In an ATM, airspace can be composed of airways, intersections and nodes. In this paper, for simplicity, distributed coordinating the motions of Vertical TakeOff and Landing (VTOL) UAVs to pass an airway is focused. This is formulated as a virtual tube passing problem, which includes passing a virtual tube, inter-agent collision avoidance and keeping within the virtual tube. Lyapunov-like functions are designed elaborately, and formal analysis based on invariant set theorem is made to show that all UAVs can pass the virtual tube without getting trapped, avoid collision and keep within the virtual tube. What is more, by the proposed distributed control, a VTOL UAV can keep away from another VTOL UAV or return back to the virtual tube as soon as possible, once it enters into the safety area of another or has a collision with the virtual tube during it is passing the virtual tube. Simulations and experiments are carried out to show the effectiveness of the proposed method and the comparison with other methods.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
