基于路径跟踪的平流层飞艇柔性编队控制

Flexible formation control of stratospheric airships based on path following

建立平流层飞艇驻空阶段动力学模型,在定高飞行前提下,采用小扰动方法对动力学方程进行线性化处理。提出采用路径跟踪的平流层飞艇柔性领航-跟随编队控制方法,领航者和跟随者通过速度控制与航向控制,分别跟踪保持特定距离的参考路径,实现编队的柔性控制。以采用直线路径跟踪和采用圆路径跟踪的三平流层飞艇编队控制为例,对提出的柔性编队控制方法进行仿真验证。仿真结果表明:提出的路径跟踪方法控制精度高,提出的柔性编队控制方法可以实现编队稳定运行,避免编队成员碰撞现象的发生。

Dynamics model of the stratospheric airship during floating was established,and the model was linearized using linear perturbation theory based on the assumption which the flight altitude is constant.A flexible leader-follower formation control method for stratospheric airships based on path following was proposed,in which the leader and followers track the reference trajectory respectively through velocity and heading control.Linear formation and circular control of three stratospheric airships were simulated and the simulation results show that the control accuracy of the path following method is high while the formation can operate stably,and the collision among airships can be avoided.