Trophallaxis network control approach to formation flight of multiple unmanned aerial vehicles  

作　　者：DUAN HaiBin LUO QiNan YU YaXiang 

机构地区：[1]Science and Technology on Aircraft Control Laboratory,School of Automation Science and Electrical Engineering,Beihang University

出　　处：《Science China(Technological Sciences)》2013年第5期1066-1074,共9页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.61273054,60975072 and 60604009);the National Basic Research Program of China("973"Project)(Grant No.2013CB035503);the Program for New Century Excellent Talents in University of China(Grant No.NCET-10-0021);the Aeronautical Foundation of China(Grant No.20115151019)

摘　　要：A novel network control method based on trophaUaxis mechanism is applied to the formation flight problem for multiple un- manned aerial vehicles （UAVs）. Firstly, the multiple UAVs formation flight system based on trophallaxis network control is given. Then, the model of leader-follower formation flight with a virtual leader based on trophallaxis network control is pre- sented, and the influence of time delays on the network performance is analyzed. A particle swarm optimization （PSO）-based formation controller is proposed for solving the leader-follower formation flight system. The proposed method is applied to five UAVs for achieving a ＇V＇ formation, and a series of experimental results show its feasibility and validity. The proposed control algorithm is also a promising control strategy for formation flight of multiple unmanned underwater vehicles （UUVs）, unmanned ground vehicles （UGVs）, missiles and satellites.

关 键 词：unmanned aerial vehicle （UAV） trophaHaxis network control formation flight particle swarm optimization （PSO） 

分 类 号：V279[航空宇航科学与技术—飞行器设计]