无人机密集编队Backstepping控制器设计方法研究

Design Method of Backstepping Controller for UAV Secret Formation Flying

无人机密集编队飞行控制器设计面临着强耦合、强非线性以及防碰撞所要求的强鲁棒性等问题。文中研究建立了无人机编队飞行动力学模型,并根据该运动模型的具体形式提出了运动模型解耦和单通道设计方法。针对编队飞行的实际需求,提出一种改进Backstepping控制方法,并证明了该控制器的稳定性。该方法突破了现有非线性鲁棒设计方法对系统不确定性范数已知的限制,降低了设计难度和保守性。仿真结果显示,该设计方法是有效的。

UAV secret formation flying controller design is faced with strong coupling,strong nonlinearity and strong robustness required for anti-collision.In this study,the dynamics model of UAV formation flying is established,and the model decoupling and single channel design method are proposed according to the specific form of the dynamics model.An improved Backstepping controller method is proposed to meet the actual requirements of formation flying,and the stability of the controller is proved.This method breaks through the limitation of the existing non-linear robust design method that requires the uncertainty norm of the system is known,and reduces the design difficulty and conservativeness.The simulation results show that the design method is effective.