无人机全局渐近稳定自动编队飞行控制研究

Study of Global Asymptotically Stable Automatic Formation Flight Control for UAVs

研究了无人机在"长机-僚机"编队结构中僚机的编队保持自动驾驶仪控制算法。首先提出了一个基于两机相对位置动力学的控制算法,但该算法在状态空间中存在奇异点,因此又提出了一个在惯性坐标系中基于新的误差形式的无奇异点的编队控制算法。最后证明了该算法在整个状态空间中的全局渐近稳定性并进行了数值模拟,说明该控制算法具有较好的性能。

The control algorithm of formation hold autopilot on a ＂leader-follower＂ configuration of Unmanned Aerial Vehicles （UAVs） was studied. A control algorithm was proposed based on the dynamics of the relative position between the two vehicles. But the dynamics model of such algorithm has a singularity in the state space. So a singularity-free formation control algorithm was proposed based on a new error formulation in inertial frame. In the end global stability of the overall system was proved and favorable properties of the proposed formation control algorithm were demonstrated through numerical simulation.