基于领航-跟随的有人/无人机编队队形保持控制  

Formation keeping control for manned/unmanned aerial vehicle formation based on leader-follower strategy

作　　者：吴立尧 韩维 张勇 苏析超 朴海音[2] WU Li-yao;HAN Wei;ZHANG Yong;SU Xi-chao;PIAO Hai-yin(College of Aviation Foundation,Naval Aviation University,Yantai 264001,China;Shenyang Aircraft Design and Research Institute,Shenyang 110035,China)

机构地区：[1]海军航空大学航空基础学院,山东烟台264001 [2]沈阳飞机设计研究所,沈阳110035

出　　处：《控制与决策》2021年第10期2435-2441,共7页Control and Decision

基　　金：国家自然科学基金项目(51505493);航空科学基金项目(2016ZA01008)。

摘　　要：针对有人/无人机编队飞行过程中的队形保持问题,采用领航-跟随策略设计一种有人/无人机编队队形保持控制器.首先从编队作战体系和控制原理角度设计有人/无人机编队控制系统结构;然后基于领航有人机与跟随无人机平面位姿的几何关系,建立编队内相对距离-角度运动学模型;最后在考虑僚机控制系统时变扰动的情况下,针对编队运动学模型特点设计动态反馈自适应编队队形保持控制器,并利用李雅普诺夫理论证明编队控制器的稳定性.仿真结果表明,所设计的控制器能够克服僚机控制模型不确定性带来的扰动影响,可以实现编队由初始误差到期望队形的快速调整以及稳定队形的保持.In order to solve the formation keeping problem for a manned/unmanned aerial vehicle(MAV/UAV) formation flight, this paper designs a formation keeping controller for MAV/UAV formation based on a leader-follower strategy.Firstly, the structure of the MAV/UAV formation control system is designed from the view of the formation combat system and the control principle. Then, the formation relative distance-angle kinematic model is established based on the geometric relationship between the leaders and followers. Finally, in consideration of the follower’s control model with time-varying disturbances, a dynamic feedback and adaptive controller is designed according to characteristics of the formation kinematic model, and the stability of the controller is analyzed based on the Lyapunov theory. Simulations demonstrate that the designed controller can suppress the influence of the uncertainty disturbance, realize rapid formation adjustment from the initial error to the desired formation and stable formation keeping.

关 键 词：有人/无人机编队 队形保持 时变扰动 动态反馈 自适应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]