无人机紧密编队队形构成控制

针对无人机编队飞行问题,通过借鉴Agent体系结构确定无人机编队的控制结构.建立了以航迹坐标系为参考坐标系的长机与僚机的相对运动模型,根据僚机距离长机最优位置的误差,利用李亚普诺夫稳定性理论设计队形构成中僚机的控制律.最后通过建立的六自由度非线性飞行仿真平台进行仿真验证,结果表明所设计的控制律能稳定引导无人机完成编队的队形构成.

Close Formation Configuration Control of Cooperative UAV

In allusion to the problem of UAV formation flight,the UAV control characteristics were studied based on the architecture of Agent.The model of relative motion of formation flight was established in the path coordinate frame,the concept of miss distance which is combined to obtain the control law of the wingman with the Lyapunov stability theorem.At last the performance of the guidance law is simulated using the complete nonlinear six-DOF flight simulation system.The simulation result shows that the control...