大规模固定翼无人机集群编队控制方法

Formation control of large-scale fixed-wing unmanned aerial vehicle swarms

针对大规模固定翼无人机集群的编队控制问题,提出一种分层分组控制方案.首先,设计一种分布式的无人机集群分层分组控制架构,将集群内所有无人机分成若干独立且不相交的群组,并在群组内分别形成"长机层"和"僚机层";其次,对各群组内的长机设计协同路径跟随控制律,使长机收敛到各自期望路径上的虚拟目标点,并通过对各虚拟目标点的协调控制实现长机的协同,进而实现各群组间的协同;然后,对各组的僚机设计控制律以跟随其所在群组的长机,使其与长机保持期望的相对位置且朝向一致.设计的大规模集群编队控制律考虑了固定翼无人机的控制约束和环境中风的影响,并证明了闭环系统的稳定性.100架固定翼无人机集群的全流程数值仿真,验证了所提出控制方法的有效性.

This paper considers the formation control of large-scale fixed-wing UAV swarms,and proposes a group-based hierarchical method.Firstly,a distributed group-based control architecture is proposed for the UAV swarms,which divides all the UAVs into several distincts and non-overlapping groups,and the UAVs in each group are organized into two layers,the leader layer and the follower layer.Secondly,for leader UAVs,the coordinated path following control law is proposed,which steers the leader UAVs towards their virtual targets on their desired paths,and achieves the coordination of leader UAVs by coordinating the movement of the virtual targets,thus the inter-group coordination is achieved.Thirdly,a leader-following formation control law is proposed for the follower UAVs to follow the leader UAVs in their respective groups.The proposed formation control law for large-scale swarms considers the control constraints of fixed-wing UAVs and wind influence,and the closed-loop stability is theoretically guaranteed.Numerical simulations of 100 fixed-wing UAVs in a whole mission process are conducted,which validate the effectiveness of the proposed method for large-scale swarms.