小型无人机编队飞行的控制律设计与仿真

Design and simulation of formation flight control laws for small unmanned aerial vehicles

针对一种小型无人机模型及其编队飞行的实际背景和限制条件,采用长-僚机(leader-wingman)编队模式,按前向、侧向和垂直方向3个通道分别设计了僚机编队控制律,从而使三维编队问题得以简化.对于多机编队的情况,应用基于长机模式(leader mode)和前机模式(front mode)的2种编队控制策略,并通过仿真实验和比较分析,证实了长机模式的优越性.通过2架小型无人机编队队形保持和多架无人机在大机动飞行情况下的队形保持与队形变换等一系列仿真实验,验证了提出的编队飞行控制律的可行性和有效性.

Based on general conditions as well as those limiting formation flight for small unmanned aerial vehicles （UAV） , formation control laws were designed and then validated through simulations. Using the principle of leader-wingman so as to reduce the design complexity of the 3-D formation flight controls, three types of control laws were designed, covering forward, lateral and vertical motion respectively. The corresponding implementation algo- rithms were then analyzed. In view of formation control for multi-UAVs, some detailed comparative studies of control performance between leader mode and front mode were carried out. Simulation results showed that the former outperforms the latter. Simulation results of formation keeping for two small UAVs and multiple UAVs under highly maneuvered flight conditions proved the feasibility and effectiveness of the formation control laws.