无人机自适应编队飞行控制设计与仿真

Adaptive Formation Flight Control Design for UAVs

编队飞行对于完善无人机的功能和生存能力具有重要意义。以两架紧密编队飞行的无人机为研究对象,考虑到外部干扰和噪声的影响,建立了编队飞行动力学模型;根据编队飞行控制系统的特点,使用直接自适应控制技术对无人机进行编队飞行控制,使得飞机具有良好的模型跟踪能力;同时采用PID控制器使得系统快速跟踪指令;最后分析了所设计系统的稳定性。仿真结果表明设计的编队飞行控制系统具有较强的鲁棒性和自适应跟踪性能。

It is very important for unmanned air vehicles （UAVs） mission success and survivability in developing formation flight control systems for multiple UAVs. Considering external disturbances, the formation flight dynamic model was set up. Then a hybrid adaptive formation flight controller was designed by using the direct adaptive control and proportionintegral-differential （PID） control scheme. PID control was adopted at tracing command signals, Direct adaptive control was used to restrain external disturbances and track trajectory of the reference model. The asymptotical stability of formation flight control system was analyzed The simulation results show that the designed controller yields good dynamic and robust performance in a two UAVs formation flight.