基于模糊自适应的多无人机编队协同控制平台

Fuzzy Adaptive Multi-UAVs Formation Cooperative Control Platform

随着无人机技术不断发展进步,多无人机编队控制算法成为了研究重点。该文提出了模糊自适应的多无人机编队控制算法。首先,根据领航-跟随一致性控制策略对无人机编队系统进行详细的描述;然后,在面对无人机控制系统中系统函数未知的情况下,使用模糊逻辑系统逼近未知函数,并设计了编队控制器;最后,对无人机编队算法的一致性和编队队形保持进行仿真实验。仿真结果表明,该算法能实现多无人机编队飞行状态的一致性和编队飞行队形的保持。同时,该文通过基于模糊自适应的多无人机编队控制算法,设计的协同控制软件平台对无人机队形编队进行实际的实验应用,并且实验结果表明基于此算法设计的协同控制平台能够对多无人机的队形编队进行更优的编队控制。

With the development and progress of UAV technology,multi-UAVs formation control algorithm has become the focus of research.In this paper,a fuzzy adaptive multi-UAVs formation control algorithm is proposed.Firstly,the UAV formation system is described in detail according to the pilot-follow consistency control strategy.Then,in the face of unknown system function in UAV control system,fuzzy logic system is used to approximate unknown function,and formation controller is designed.Finally,the consistency and formation maintenance of UAV formation algorithm are simulated,and the simulation results show that the algorithm can achieve the consistency of formation flying state and maintain formation of multi-UAVs formation.At the same time,the collaborative control software platform designed in this paper based on the fuzzy adaptive multi-UAVs formation control algorithm is used for the practical experimental application of the formation control of unmanned aerial vehicles,and the experimental results show that the collaborative control platform designed based on this algorithm can achieve better formation control of multi-UAVs formation.