关于异构无人器地空联合编队控制仿真研究

The Simulation Study of Ground and Aerial Combined Formation Control for Heterogeneous Unmanned Vehicles

异构无人器地空联合编队可以大幅度提高执行任务的效率,针对编队优化控制问题,提出了一种采用RBF网络的自适应编队控制器设计方法。详细推导了无人机和无人车非线性动力学模型的等价变换,建立了以加速度为控制输入的统一的编队控制模型。采用虚拟领航者方法,建立了虚拟无人器与跟随无人器之间的误差模型,设计了基于RBF网络的联合编队自适应控制器,通过sigmoid函数和tanh函数在线调整网络权值,使编队的跟踪误差快速趋近于零。三维仿真结果表明:无人机-无人车联合编队快速形成期望队形,并且能够实现队形保持。

Ground and aerial combined formation with heterogeneous unmanned vehicles can greatly raise the efficiency of performing tasks. Considering the problem of cooperative formation control,an adaptive formation control method based on RBF network was proposed. The nonlinear dynamic models of the UAVs and UGVs were deduced respectively througth equivalent transformation,and a model with the control input based on the acceleration was proposed. Using the virtual leader strategy,the error model between virtual unmanned and follow unmanned was build.An adaptive formation controller based on RBF network was designed. The network weights were adjusted with sigmoid function and tanh function,the tracking errors of the formation approached to zero quickly. Three- dimensional simulation results show that combined formation can achieve the desired formation quickly and realize the formation keeping.