无人机自主空中加油会合编队控制方法  

A UAV Rendezvous Formation Control Approach for Automated Aerial Refueling

作　　者：蔡云鹏[1] 任斌 王大勇[1] 王延祥 王宏伦[2,3] CAI Yunpeng;REN Bin;WANG Dayong;WANG Yanxiang;WANG Honglun(Shenyang Aircraft Design&Research Institute,Shenyang 110000,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100000,China;Science and Technology on Aircraft Control Laboratory,Beihang University,Beijing 100000,China;Shenyuan Honors College,Beihang University,Beijing 100000,China)

机构地区：[1]沈阳飞机设计研究所,沈阳110000 [2]北京航空航天大学自动化科学与电气工程学院,北京100000 [3]北京航空航天大学飞行器控制一体化技术重点实验室,北京100000 [4]北京航空航天大学沈元学院,北京100000

出　　处：《电光与控制》2023年第11期19-25,共7页Electronics Optics & Control

基　　金：国家自然科学基金(61673042)。

摘　　要：针对无人机自主空中加油过程中加油机、受油机会合编队问题,基于Lyapunov导航向量场(LGVF)和一致性理论设计了一种编队控制方法。首先,建立了无人机编队模型,包括通信拓扑模型和编队几何模型,并在此基础上定义了多无人机系统的协同变量;接着,设计了期望的加油轨迹,并基于Lyapunov导航向量场方法设计了加油机(编队参考点)的飞行控制律;然后,根据加油机的位置、速度信息,基于一致性理论设计了加、受油机会合编队控制方法,并分析了该方法的稳定性;最后,进行了数字仿真,表明了所提方法的有效性。To solve the problem of UAV rendezvous formation control for the formation consisting of a tanker and multiple receivers in the process of autonomous aerial refueling,a formation control approach is designed based on Lyapunov Guidance Vector Field(LGVF)and the information consensus theory.Firstly,the UAV formation models are established,including the communication topology model and the formation geometry model.Based on this,the cooperative variables of the multi-UAV system are defined.Then,the expected refueling trajectory is designed,and the flight control law of the tanker(the formation's reference point)is designed based on the LGVF method.Then,according to the position and velocity information of the tanker,the UAV rendezvous formation control method is designed based on the consensus theory,and the stability of this method is analyzed.Finally,a numerical simulation is carried out to illustrate the effectiveness of the proposed method.

关 键 词：自主空中加油 无人机编队 Lyapunov导航向量场 一致性理论 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]