基于有限时间状态反馈的多UAV编队飞行控制研究  

Multi-UAV formation flight control based on finite-time state feedback

作　　者：张毅[1] 周绍磊[1] 杨秀霞[1] 

机构地区：[1]海军航空工程学院控制工程系,烟台264001

出　　处：《战术导弹控制技术》2013年第4期5-9,共5页

基　　金：基金项目：山东省自然科学基金（ZR20IOFQ005）

摘　　要：基于反馈线性化，采用有限时间一致性控制方法实现了多UAV的编队飞行控制。本文为无Leader结构，采用虚拟结构法，各UAV只需邻居间的信息。利用齐次系统性质，设计出一种编队控制器，使得各UAV能实现期望的位置和速度控制。基于多UAV的编队飞行验证了本文控制方法的有效性。Based on feedback linearization, the finite-time consensus control method is used to complete the multi-UAV for- mation flight. Any explicit leader does not exist in the formation team and the virtual structure method is used. Every UAV requires only the local neighbor-to-neighbor information between vehicles. Using homogeneous properties, the formation flight controller is designed to guarantee that each UAV can reach the expected position and velocity. Numerical simulation on muhi-UAV formation flight is performed to validate the performance of the proposed controller.

关 键 词：多UAV 编队飞行控制 虚拟结构 有限时间控制 

分 类 号：V448[航空宇航科学与技术—飞行器设计]