Naval Aviation University
针对有人/无人机编队飞行过程中队形保持问题, 本文采用领航-跟随策略设计了一种有人/无人机编队队形保持控制器. 首先从编队作战体系和控制原理角度设计了有人/无人机编队控制系统结构, 然后基于领航有人机与跟随无人机平面位姿的几何关系, 建立了编队内相对距离-角度运动学模型. 最后在考虑僚机控制系统时变扰动情况下, 针对编队运动学模型特点设计了动态反馈自适应编队队形保持控制器, 并利用李雅普诺夫理论证明了编队控制器的稳定性. 仿真结果表明本文设计的控制器能够克服僚机控制模型不确定性带来的扰动影响, 可以实现编队由初始误差到期望队形的快速调整以及稳定队形保持.
In order to solve the formation keeping problem for a manned/ unmanned aerial vehicle (MAV/UAV) formation flight, this paper designs a formation keeping controller for MAV/UAV formation based on leader-follower strategy. Firstly, the structure of MAV/UAV formation control system is designed from the view of formation combat system and control principle. Then, the formation relative distance-angle kinematic model is established based on the geometric relationship between the leader and follower. Finally, in consideration of the follower’s control model with time-varying disturbance, a dynamic feedback and adaptive controller is designed according to characteristics of formation kinematic model, the stability of controller is analyzed based on Lyapunov theory. Simulations demonstrate that the controller designed can suppress the influence of the uncertainty disturbance, realize rapid formation adjustment from the initial error to the desired formation and stable formation keeping.