小型无人机编队队形保持与重构算法设计  

Formation Maintenance and Reconfiguration Algorithm Design for Small UAVs

作　　者：齐阖荣 张民[1] 姚洪斌 Qi Herong;Zhang Min;Yao Hongbin(College of Automation Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《兵工自动化》2021年第11期32-35,共4页Ordnance Industry Automation

基　　金：航空科学基金(20181352010)。

摘　　要：为解决小型无人机编队保持与队形重构控制的问题,设计一款适用于编队保持和队形重构的控制器。以小型固定翼无人机为对象,采用长机-僚机编队模式,建立相对运动关系模型,对无人机位置和姿态偏差进行分析,分别设计作用于速度和侧向通道的控制器,通过六自由度模型仿真系统对编队性能进行测试。仿真结果表明:该算法设计可实现编队保持和队形变换,满足性能要求。In order to solve the control problem of formation maintenance and reconfiguration of small UAV,a controller suitable for formation maintenance and reconfiguration is designed.The small fixed-wing UAV is taken as the research object,the leader-wingman formation mode is adopted,the relative motion relationship model is established,the position and attitude deviation of the UAVs is analyzed and the controller acting on the speed and lateral channels respectively is designed.The six-degree-of-freedom model simulation system is used to test the formation performance.The simulation results show that the algorithm design can realize formation maintenance and reconfiguration,and meet the performance requirements.

关 键 词：小型无人机 队形重构 长机-僚机编队 控制器 

分 类 号：V279[航空宇航科学与技术—飞行器设计]