应用极值搜索算法优化无人机近距离编队飞行

针对无人机近距离编队飞行问题，采用极值搜索算法．解决其中僚机所需动力最小化的控制问题。在近距离飞行编队中，充当僚机的无人机会受到前面长机产生的旋涡力的影响，旋涡力是两飞机间距离的函数，以僚机的俯仰角作为搜索目标，寻求两无人机问的最大旋涡力．使得僚机所消耗动力最小，从而构造出最优的飞行编队结构。通过仿真．验证了所设计的控制方法能够极大地节省僚机的能量。

Optimizing UAV Close Formation Flight Using Extremum Seeking Algorithms

An approach based on extremum seeking algorithms for the minimum power demand of the wingman in formation flight of an UAV is presented. In close formation flight, the wingman UAV motion is affected by the vortex of the adjacent lead UAV. The forces produced by these vortices are complex functions of the relative position of the UAVs. The maximum forces can be gained by minimizing the pitch angel of the wingman, therefore, optimal flight formation and the minimum power demand of the wingman are also attained. The simulation results indicate the approach can largely save the power of the wingman.