基于反步推演法的多机编队队形重构控制

doi:10.7527/S1000-6893.2019.23177

Abstract

Abstract: Aiming at the slowed combat efficiency for desired forming and the steady-state speed of multi-UAV, a cooperative guidance control method is designed based on the back-stepping approach, which is used to rapidly form the desired formation and reach the steady-state of Multi-UAV. The UAV formation system consists of four UAVs, forming a regular triangle formation. One of the UAVs is a virtual leader, located in the center of the triangle, and the other three UVAs are located in the vertex of the triangle. Meanwhile, the forward speed of the leader is used as the forward direction of formation, and the followers follow the leader with formation flight. The error dynamics model of each follower is established by using the leader guidance mechanism, and the communication mode between any two UAVs is established based on the graph theory. In addition, the guidance control law is obtained by the back-stepping approach. A reasonable Lyapunov function is constructed to prove the effectiveness of the proposed cooperative guidance control law in formation aggregation and formation keeping. Moreover, the proposed method is compared with the Model Prediction control (MPC) and the Laplace method to further verify the effectiveness of the proposed method. The simulation results show that each UAV can converge the desired motion trajectory and fly in the desired formation with fast convergence speed and small steady-state error.

Key words: UAV formation, back-stepping approach, cooperative guidance control law, Lyapunov function, steady-state error

CLC Number:

V211.3
TP273

ZHANG Jialong, YAN Jianguo, ZHANG Pu. Multi-UAV formation forming reconfiguration control based on back-stepping method[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(11): 323177-323177.

References 39

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Multi-UAV formation forming reconfiguration control based on back-stepping method

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