无人机编队飞行的分布式控制策略与控制器设计

Distributed control strategy and controller design for UAV formation flight

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,分析了编队飞行所必须涉及的队形保持、约束条件以及行为协调等关键性问题,进而引入分布式编队飞行控制策略并简要介绍了其优越性.根据分布式策略的层级概念,先后讨论了单机控制器的设计与上层的编队控制器的设计.最后分别进行了单机的FDC(flight dynamic and control)仿真和双机编队仿真.仿真结果表明,设计的控制器在执行效率和控制性能等方面具有突出的优势.

In view of the practical background and constraints of formation flight for a class of small UAV models, some key problems involved in formation flight, such as maintaining formation, environmental constraints, and behavior coordination were analyzed in depth in order to introduce the distributed control strategy for formation flight and discuss its advantages. According to the hierarchical concepts and organizational structure of distributed controls, the controller design for both single UAV and multi-UAV formations were studied, respectively. Therefore, the FDC （flight dynamics and control） simulation for single UAV and general Simulink simulation for two-UAV formation flights were carried out separately. The simulation results show that the proposed controllers provide some outstanding advantages in executive efficiency and control performance.