多无人机编队队形保持优化控制仿真研究

Simulation study on multi-UAV formation maintaining optimal control

采用多无人机编队保持队形的优化控制可以通过调节较少参数使各无人机能够精确跟踪领航无人机,达到稳定编队队形的目的。以简化的自动驾驶仪模型作为编队保持控制系统的内回路,基于以长机为参考的旋转坐标系建立相对运动学模型,采用全局渐近稳定控制方法设计了多无人机编队保持控制器。经过仿真验证,该控制器实现了长机在三维空间机动飞行时僚机能够迅速跟踪长机并保持编队队形的稳定,且响应速度和跟踪精度较为理想。仿真结果表明,该控制器能够实现多无人机编队队形在三维空间下的保持。

Multi-UAV formation maintaining optimal control could enable followers to track the leader accurately and maintain a fixed formation configuration with less control parameters. Simplified model of autopilot was used as inner loop system of formation maintaining control system. The relative motion equation of UAV formation in rotating coordinate frame which used the leader as a reference was derived.UAV formation maintaining controller was established with global asymptotically stable control method.Finally,it was verified by simulation that the controller could make the followers track the leader rapidly and maintain formation stability when the leading UAV maneuver in three-dimensional space. Response speed and tracking accuracy was improved obviously. So it is considered that the controller could realize multi-UAV formation in three-dimensional space.