无人机鲁棒反推自适应编队导引控制设计

Robust Adaptive Backstepping Design for Unmanned Aerial Vehicle Formation Guidance and Control

针对一般不确定系统研究了一种鲁棒反推自适应控制方法,采用自适应神经网络对未建模动态进行补偿,并利用Lyapunov理论证明了跟踪误差的有界性.分析了长机一僚机编队方式下的无人机编队导引控制策略,采用鲁棒反推自适应控制与动态逆方法对无人机编队飞行综合导引控制律进行设计.进行了六自由度非线性仿真,表明所设计的编队导引控制器能使僚机对不确定机动的长机进行跟踪,并具有很好的鲁棒性.

A robust adaptive backstepping method is proposed for a generic uncertain system, and its appli- cation to integrated guidance and control for unmanned aerial vehicle （UAV） formation flight studied. The unmodeled dynamics are compensated by an adaptive neural network. Boundedness of tracking errors is proved by the Lyapunov theory. The leader-follower formation flight guide and control strategy is introduced. An integrated guidance and control law of the UAV formation flight is designed based on the adaptive backstep- ping and dynamic inversion. A six-degree-of-freedom nonlinear simulation shows that the follower can robustly track the leader with uncertain maneuvering.