软管连接约束下的加油机/无人机编队跟踪控制

doi:10.7527/S1000-6893.2022.28210

Abstract

Abstract:

In autonomous aerial refueling mission， a leader-follower strategy based refueling formation flight control method is proposed for the formation flight problem under hose constraint after the docking of receiving Unmanned Aerial Vehicle（UAV） and the tanker. Firstly， a kinematic/dynamic model of the refueling formation under hose constraint is established. Then， a non-singular terminal sliding mode fast convergence controller is designed to meet the fast convergence requirements of refueling formation under hose constraint. For considering complex airflow disturbances and unknown hose disturbances， a trajectory tracking controller for UAV is designed by combining the extended state observer and PI type dynamic inversion control， and prove that the closed-loop system can achieve fast stabilization in finite time based on Lyapunov stability analysis. Finally， the effectiveness of the designed refueling formation tracking control method is verified by numerical simulation.

Key words: UAV, autonomous aerial refueling, formation tracking control, non-singular sliding mode control, nonlinear dynamic inversion

CLC Number:

V249

Bo LIU, Zhongjie MENG. Tanker/UAV formation tracking control with hose connection constraints[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(17): 328210-328210.

Figures/Tables 10

Fig.1

Fig.2

Table 1

Physical parameters

参数	取值
$n$	20
$E$ /MPa	200
$A$ /（m²）	335.37×10^-6
$m i$ /kg	1.05
$m$ /kg	415.75
$g$ /（m·s^-2）	9.8
$I x$ /（ $k g ⋅ m 2$ ）	116.4
$I y$ /（ $k g ⋅ m 2$ ）	228.56
$I z$ /（ $k g ⋅ m 2$ ）	325.77
$I x z$ /（ $k g ⋅ m 2$ ）	15.53

Table 1

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

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Tanker/UAV formation tracking control with hose connection constraints

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