无人机密集编队飞行多性能控制器设计方法研究

Research on Design Method of Multi-Performance Controller for UAV Dense Formation Flight

针对无人机编队飞行控制的实际需求,建立了无人机编队飞行动力学模型,并提出一种满足多性能需求的控制器设计方法,证明了该设计方法控制器存在的条件。针对无人机编队飞行控制器设计控制器参数存在性问题和设计过程复杂等问题,提出了编队运动方程解耦方法并给出了一种单通道设计的思路。无人机编队航向机动非线性仿真表明,该控制方法有效。

Aiming at the actual requirements of UAV formation flight control,this paper established the UAV formation flight dynamics model,and proposed a controller design method to meet the multi-performance requirements,which proves the existence conditions of the controller.Aiming at the problems of UAV formation flight controller design parameters existence and complex design process,a decoupling method of formation motion equation was proposed and a single channel design idea was proposed.The nonlinear simulation results of UAV formation heading maneuver show that the method is effective.