基于多任务的无人机编队控制研究

Study on Multi-tasking for UAVs Formation Control

考虑到多架无人机编队飞行的特点,将松散编队及协同思想应用到紧密编队控制中,提出了一个三架无人机协同作战编队的飞行控制系统设计方法;在编队飞行动力学模型的基础上,设计了基于特征结构配置的无人机横侧向控制律,进行指定航路的飞行控制;然后,设计编队控制器,两架僚机可紧紧跟随长机并保持队形稳定;仿真结果表明,设计的控制器可以控制多架无人机进行紧密编队飞行,具有一定的实用性和推广价值。

Considered the character of Multi--UAVs formation flight, a flight control system design method of three UAVs＇ formation and cooperative combat is achieved by using the loose formation control method and cooperative control strategy into the close formation con- trol. A Lateral control law of UAV based on Eigenstructure assignment is designed for Path--Following Preview Controller. And then, the formation controller is designed~ two wingmans can follow leader closely and maintain a stable formation by using proposed algorithms. The simulation result indicates that the controller can achieve the purpose that control UAVs with close formation flight. The technology and methods adopted in the system are practical and worthy of using abroad.