摘要
Multiple unmanned aerial vehicles(UAVs)cooperative operation is the main form for UAVs fighting in battlefield,and multi-UAV mission rendezvous is the premise of cooperative reconnaissance and attack missions.We propose a rendezvous control strategy,which divides the rendezvous process into two parts:The loose formation rendezvous and the close formation rendezvous.In the first stage,UAVs are supposed to reach the specific target locations simultaneously and form a loose formation.A distributed control strategy based on first-order consensus algorithm is presented to achieve this goal.Then the second stage is designed based on the second-order consensus algorithm to complete the transition from the loose formation to the close formation.This process needs the speeds and heading angles of UAVs to reach an agreement.Besides,control algorithms with a virtual leader are proposed,by which the formation states can reach a specific value.Finally,simulation results show that the control algorithms are capable of realizing the mission rendezvous of multi-UAV and the consistence of UAVs′final states,which verify the effectiveness and feasibility of the designed control strategy.
Multiple unmanned aerial vehicles （UAVs） cooperative operation is the main form for UAVs fighting in battlefield, and multi-UAV mission rendezvous is the premise of cooperative reconnaissance and attack missions. We propose a rendezvous control strategy, which divides the rendezvous process into two parts： The loose formation rendezvous and the close formation rendezvous. In the first stage, UAVs are supposed to reach the specific target locations simultaneously and form a loose formation. A distributed control strategy based on first-order consensus algorithm is presented to achieve this goal. Then the second stage is designed based on the second-order consensus algorithm to complete the transition from the loose formation to the close formation. This process needs the speeds and heading angles of UAVs to reach an agreement. Besides, control algorithms with a virtual leader are proposed, by which the formation states can reach a specific value. Finally, simulation results show that the control algorithms are capable of realizing the mission rendezvous of multi-UAV and the consistence of UAVs＇ final states, which verify the effectiveness and feasibility of the designed control strategy.
基金
jointly granted by the Science and Technology on Avionics Integration Laboratory
the Aeronautical Science Foundation(2016ZC15008)
