基于模糊PID的无人机编队控制

Research on Fuzzy PID Control of UAV Formation Flight

在无人机编队飞行作的研究中,针对编队优化控制问题,根据"长机——僚机"跟踪模式的编队策略,建立起两架无人机编队的数学模型。引入模糊控制理论,设计了采用模糊PID控制律的编队控制器,解决了传统PID控制参数整定后不能改变的问题,控制器中参数的动态变化确保了对编队飞行中无人机的稳定控制。仿真结果显示,设计的控制器可以按照相关指令,控制僚机跟随长机机动,从而达到期望的相对位置和飞行状态,超调量较小,并且无稳态误差,证明该控制系统切实可行,具备较强的工程可实现性。

With UAV formation flight as application background, formation control method was studied. Based on Leader-Follower Mode UAV formation flight control system, a UAV formation mathematical model was built. With the study on the fuzzy control theory, a formation controller based on fuzzy PID control law was designed. The prob- lem that the traditional PID control parameters can not be changed was solved, the dynamic changed parameters in controller ensured the stability of the control of UAV in formation flight. The simulation results illustrate that the de- signed controller is able to manipulate wing aircrafts to follow the leader＇ s motion in order to achieve expected relative position and flying state based on corresponding instructions, with small overshoot and no steady state error, which shows that the algorithm is feasible and the controller is equipped with high engineering realizability.