无人机三维编队保持的自适应抗扰控制器设计

针对无人机编队飞行过程中领航无人机在三维空间机动飞行时的编队队形保持问题,构建了无人机三维编队保持控制系统。根据无人机编队飞行三维空间几何学关系,利用无人机自动驾驶仪模型和编队运动学模型建立了旋转坐标系下三维编队飞行的数学模型。在考虑闭环系统存在时变外界干扰的情况下,设计了无人机编队保持的自适应控制器,并基于李亚普诺夫理论,对设计的自适应控制律的稳定性进行了证明。最后通过仿真验证,该控制器能够有效抑制干扰带来的影响,使僚机能够迅速跟随长机机动,并保持编队队形的稳定。

Adaptive disturbance rejection controller design for UAV three dimensional formation keeping#br#

Aimed at the maintenance of formation when the leading unmanned aerial vehicle (UAV) maneuvers in three dimensional space in the progress of formation flight, an UAV three dimensional formation maintaining control system is established. According to the UAV formation flight geometry relationship in three dimensional space, the UAV autopilot model and the kinematic model of formation are used to build a three dimensional mathematical model of formation flight in rotating coordinate system. In consideration of the closed loop system with time varying external disturbance,an adaptive formation keeping controller is designed. Stability of the proposed adaptive control law is analyzed based on Lyapunov theory. Finally, the simulation result demonstrates the controller can suppress the influence of the disturbance effectively and make followers track the leader rapidly and maintain formation stability.