仿雁群多固定翼无人机时变编队一致性控制方法

Method of time-varying formation consistency control for multiple fixed-wing UAVs

针对多固定翼无人机编队远距离航行能量消耗大的问题,设计了一种时变编队一致性控制与集结方法。该方法利用雁群可以通过“V”字形编队节省体力完成长距离飞行的特点,采用一致性控制使无人机群快速、有序地形成仿雁群编队。同时为解决编队航行中固定长机带来的单架无人机能量高消耗问题,设计了编队重构机制,以自适应动态更换长机,并通过切换通信拓扑保证编队在不同阶段的稳定性。仿真实验结果表明:采用所提出的时变编队一致性控制方法,多固定翼无人机群能够形成并保持期望的队形,实现了切换拓扑下的编队重构。

In order to solve the problem of large energy consumption in long-distance navigation of multiple fixed-wing UAV formation,a time-varying formation consistency control and assembly method is designed.This method has advantages of geese saving physical strength to complete long-distance flight through"V"-shaped formation,and adopts consistent control to make the UAV swarm quickly and orderly form a geese-like formation.At the same time,in order to solve the problem of high energy consumption of a single UAV caused by the fixed lead aircraft during formation navigation,a formation reconfiguration mechanism is designed to adaptively and dynamically replace the lead aircraft,and to ensure the stability of the formation at different stages by switching the communication topology.The simulation results show that with the proposed time-varying formation consistency control method,the multiple fixed-wing UAV swarm can form and maintain the desired formation,and realize the formation reconfiguration under the switching topology.