基于非线性动态逆的无人机编队协同控制

UAV formation control based on nonlinear dynamic inversion

针对多无人机在空间机动过程中的编队形成与保持控制问题,提出一种基于非线性动态逆的无人机编队控制方法.将编队控制过程分解为两步:首先给出分布式长机状态估计算法,各编队无人机根据"相邻"无人机状态解算自身的期望运动指令;其次是设计接于非线性动态逆的编队控制器,使各无人机快速跟踪其期望指令并形成和保持稳定队形.仿真实验表明,编队长机进行空间机动过程中,各僚机能够准确估计其状态,快速形成并维持队形稳定.

In order to form and maintain formation when the unmanned aerial vehicles（UAVs） maneuver in three-dimension space, a formation control method based on non-linear dynamic inversion is presented. The unmanned aerial vehicle（UAV） formation control method can be decomposed into two steps. Firstly, by considering the distributed information topology, a leader state estimating algorithm is presented based on neighbor UAVs, and the expected command instruction of each UAV is obtained based on estimated leader state. Then a formation controller is designed based on the nonlinear dynamic inversion method. The controller can make each UAV follow the command instruction precisely, and form the desired formation quickly. Simulation results show that, when the formation leader maneuvers in three-dimension space, the followers can estimate its state with little error, and form and maintain the formation quickly and steadily.