基于自适应方法的多无人机编队队形控制

doi:10.7527/S1000-6893.2019.23385

Abstract

Abstract: The "leader-follower" closed formation is unable to keep the desired formation due to wind disturbances. To solve this problem, an adaptive formation keeping control method is proposed to counteract the lateral and forward distance error due to the uncertain wind disturbances and to maintain the desired formation flight. Since uncertain wind disturbances change the dynamics between the leader and the follower, this paper designs an adaptive control law based on the "leader-follower" model to accurately estimate the magnitude and direction of the wind in three-dimensional space. Subsequently, it helps control the relative motion between UAVs to eliminate the distance error and keep the consensus of velocity, which can achieve the desired formation. It is proved that the "leader-follower" formation can keep flight-stability in windy field environment, and the relative lateral, forward, and longitudinal distance errors between them are close to zero according to a reasonable Lyapunov function. The simulation results show that the proposed adaptive control method has good robustness, providing a theoretical basis for engineering practice.

Key words: “leader-follower” closed formation, windy filed disturbances, adaptive control, formation keeping, robustness

CLC Number:

V211.3
TP273

ZHANG Jialong, YAN Jianguo, ZHANG Pu. Multi-UAV formation forming control based on adaptive method under wind field disturbances[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(1): 323385-323385.

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Multi-UAV formation forming control based on adaptive method under wind field disturbances

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