Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight efficiency.Inspired by the biological habits of birds,this paper pr...Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight efficiency.Inspired by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight efficiency.First,the kinematics model for LFWFRs is established.Then,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so on.Second,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing flight.The up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage fluctuation.Third,typical formation flight modes are realized,including straight formation,circular formation,and switching formation.Finally,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.展开更多
In this paper,the 3D leader–follower formation control problem,which focuses on swarms of fixed-wing Unmanned Aerial Vehicles(UAVs)with motion constraints and disturbances,has been investigated.Original formation err...In this paper,the 3D leader–follower formation control problem,which focuses on swarms of fixed-wing Unmanned Aerial Vehicles(UAVs)with motion constraints and disturbances,has been investigated.Original formation errors of the follower UAVs have been transformed into the Frenet-Serret frame.Formation control laws satisfying five motion constraints(i.e.,linear velocity,linear acceleration,heading rate,climb rate and climb angle)have been designed.The convergence of the control laws has been discussed via the Lyapunov stability tool.In addition,to address the unknown disturbances,an adaptive disturbance observer is exploited.Furthermore,formation control laws involving estimated disturbances are presented as well.The collision avoidance between UAVs is achieved with the artificial potential method.Simulation results obtained using four scenarios verify the effectiveness of the proposed method in situations with constant disturbances and varying disturbances,as well as without disturbances.展开更多
基金This work was supported in part by the National Natural Science Foundation of China(Grant No.62233001)Shenzhen excellent scientific and technological innovation talent training project(Grant No.RCJC20200714114436040)the Basic Research Program of Shenzhen(Grant No.JCYJ20190806142816524).
文摘Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight efficiency.Inspired by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight efficiency.First,the kinematics model for LFWFRs is established.Then,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so on.Second,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing flight.The up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage fluctuation.Third,typical formation flight modes are realized,including straight formation,circular formation,and switching formation.Finally,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.
基金co-supported by the National Natural Science Foundation of China(Nos.61803353 and U19B2029)the China Postdoctoral Science Foundation(No.2017M620858)。
文摘In this paper,the 3D leader–follower formation control problem,which focuses on swarms of fixed-wing Unmanned Aerial Vehicles(UAVs)with motion constraints and disturbances,has been investigated.Original formation errors of the follower UAVs have been transformed into the Frenet-Serret frame.Formation control laws satisfying five motion constraints(i.e.,linear velocity,linear acceleration,heading rate,climb rate and climb angle)have been designed.The convergence of the control laws has been discussed via the Lyapunov stability tool.In addition,to address the unknown disturbances,an adaptive disturbance observer is exploited.Furthermore,formation control laws involving estimated disturbances are presented as well.The collision avoidance between UAVs is achieved with the artificial potential method.Simulation results obtained using four scenarios verify the effectiveness of the proposed method in situations with constant disturbances and varying disturbances,as well as without disturbances.
