基于分层控制结构的有人/无人机编队队形控制  

Formation Control of Manned/Unmanned Aerial Vehicles Based on Hierarchical Structure

作　　者：王欢[1] 刘树光[1] 张博洋 WANG Huan;LIU Shuguang;ZHANG Boyang(Equipment Management and Unmanned Aerial Vehicle Engineering School Air Force Engineering University,Xi'an 710000 China)

机构地区：[1]空军工程大学装备管理与无人机工程学院,西安710000

出　　处：《电光与控制》2023年第1期1-7,共7页Electronics Optics & Control

基　　金：空军工程大学研究生创新实践基金(CXJ2021096)。

摘　　要：针对有人/无人机(MAV/UAV)系统在三维空间下的协同编队队形保持和变换问题,提出了具有分层结构的有人/无人机编队控制方法。根据有人/无人机指挥控制方式和作战流程,设计有人/无人机编队系统控制结构,其中,采用动态面控制方法设计有人机轨迹跟踪控制器,解决了反步控制中虚拟控制信号反复求导的问题;基于有限集中分布式编队控制策略设计无人机编队控制器,实现了多架无人机与有人机的协同编队飞行,并基于Lyapunov理论证明了控制器的稳定性。最后,针对三维空间下的有人/无人机编队进行仿真,仿真结果验证了所设计有人/无人机编队控制策略的有效性。Aiming at the problem of keeping and changing the cooperative formation of manned/unmanned aerial vehicle(MAV/UAV) system in three-dimensional space,a method of MAV/UAV formation control with hierarchical structure is proposed.According to the MAV/UAV command and control mode and operation process,the control structure of MAV/UAV formation system is designed,in which the tracking controller of manned aircraft trajectory is designed by using dynamic surface control method,which solves the problem of repeated derivation of virtual control signal in backstepping control.Based on the limited centralized distributed formation control strategy,the UAV formation controller is designed,and the cooperative formation flight of multiple UAVs and a manned aircraft is realized.The stability of the controller is proved based on Lyapunov theory.Finally,the simulation of MAV/UAV formation in three-dimensional space is carried out,and the simulation results verify the effectiveness of the designed MAV/UAV formation control strategy.

关 键 词：有人/无人机编队 分层结构 编队控制 动态面控制 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]