多固定翼靶机固定时间自适应编队控制方法

Fixed time adaptive formation control technologies for multiple fixed wing unmanned target drone aircrafts

针对多固定翼靶机编队生成、保持及队形变换控制问题,提出了一种基于领导跟随策略的固定时间协同控制方法,以期实现多固定翼靶机系统快速收敛到期望编队,并能够跟踪领机的运动轨迹。基于固定时间理论、滑模控制方法及自适应算法,根据领机及相邻靶机的相对状态提出一种固定时间协同编队控制算法。采用Lyapunov稳定性理论证明多固定翼靶机编队系统可以在固定时间收敛,并得到收敛的充分条件。最后,仿真验证了所提编队控制算法的有效性,且该算法具有固定时间收敛的特点,可在三维空间内实现多固定翼靶机编队的快速生成、保持及队形变换。

Aiming at the problem of formation forming,keeping and transformation control of multiple fixed wing unmanned target drone aircrafts(UTDAs),a fixed time cooperative control method based on the leader-follower strategy is proposed,so as to realize the rapid convergence of the multiple UTDAs system to the desired formation and track the trajectory of the leader.Based on the fixed-time theory,the sliding mode control method and the adaptive algorithm,a novel fixed time cooperative formation control algorithm is proposed according to the relative state of the leader and neighbor UTDAs.The Lyapunov stability theory is adopted to prove that the multiple UTDAs formation system can converge in a fixed time and a sufficient condition is obtained for convergence.The effectiveness of the proposed formation control algorithm is verified by simulation,and the proposed algorithm possesses the feature of fixed-time convergence,which can realize the rapid formation building,keeping and transformation of multiple UTDAs in three-dimensional space.