基于方位刚性理论的编队机动控制技术  

Formation Maneuver Control Technology Based on Azimuth Rigidity Theory

作　　者：张靖雯 李春涛[1] Zhang Jingwen;Li Chuntao(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106

出　　处：《兵工自动化》2025年第2期5-11,共7页Ordnance Industry Automation

摘　　要：针对多无人机编队中存在的机动问题,提出一种固定拓扑下编队机动控制方法。以“多长机-僚机”模式建立编队控制架构,利用刚性图理论,建立各无人机之间的交互拓扑结构,确定了方位约束;结合一致性理论与方位刚性理论,提出一种能使僚机跟随长机以时变速度编队飞行的编队算法,实现编队的缩放和平移机动;通过将各无人机之间的方位约束从惯性坐标系旋转到由速度方向对齐形成的局部坐标系中,实现编队的旋转机动。仿真结果表明:该方法在2维平面与3维空间内,均能实现编队的平移机动,并在2维平面内,验证了编队的缩放与旋转机动,实现了队形的快速缩放与空间旋转。Aiming at the maneuvering problem of multi-UAVs formation,a formation maneuvering control method under fixed topology is proposed.The formation control architecture is established in the"multi-leader-wingman"mode,and the interaction topology between UAVs is established by using the rigid graph theory to determine the azimuth constraints.Combining the consistency theory and the azimuth rigidity theory,a formation algorithm is proposed,which can make the wingman follow the leader to fly in formation at a time-varying speed,and realize the scaling and translation maneuvers of the formation;By rotating the azimuth constraint of each UAV from the inertial coordinate system to the local coordinate system formed by the velocity direction alignment,the rotation maneuver of the formation is realized.The simulation results show that the method can realize the translational maneuver of the formation in the two-dimensional plane and three-dimensional space,and in the two-dimensional plane,the scaling and rotation maneuver of the formation is verified,and the rapid scaling and spatial rotation of the formation is realized.

关 键 词：无人机编队 方位刚性理论 一致性 方位对齐 编队机动 

分 类 号：V279[航空宇航科学与技术—飞行器设计]