多无人机协同运动的虚拟队形制导控制

Cooperative motions control method guided by virtual formations for multi-UAVs

针对多个无人机的协同运动问题,提出一种多无人机协同运动的虚拟队形制导控制方法。该方法采用跟随-领航者法,借鉴虚拟结构法的思路,首先,根据航路点数据和协同任务队形结构在线规划出虚拟队形期望航路,避免了虚拟结构法刚性结构的缺点;然后,设计非线性航路跟随制导律,导引无人机沿期望航路运动,完成对虚拟队形期望航路的跟踪;第三,基于Lyapunov稳定性理论设计了队形误差控制器,用来补偿由于航路机动带来的航迹切向队形误差;最后,综合制导律和队形误差控制器得到协同运动控制指令。仿真算例表明,该方法能有效实现多个无人机的协同运动。

Aiming at solving the problem of cooperative motions of multi-unmanned aerial vehicles （UAVs）, a cooperative motions control method guided by virtual formations is proposed. Combined with the leader-following method and virtual structure method, this method depicts the way to disassemble the cooperative motions of multi-UAVs into three parts. First, in light of the waypoint data and cooperative virtual formation structure, it provides the means to compute the anticipating pathway of virtual formations. Besides, the paper delineates that the design of the path following guidance law which can provide the lateral acceleration instruction to control one single UAV, for the purpose of following the corresponding virtual formation pathway. Furthermore, this method designs a formation error controller based on Lyapunov theory, which can reduce formation errors and keep the appropriate formation. Simulation example shows that this proposed method can achieve the cooperative motions of multi-UAVs efficiently.