基于预设时间的固定翼无人机紧密编队控制

doi:10.7527/S1000-6893.2025.32496

Abstract

Abstract:

During close formation flight of fixed-wing UAVs， the wingman aircraft is subjected to interference from the wake vortex of the leader aircraft， increasing the difficulty of designing the wingman’s controller. To address this issue， this paper first proposes a modeling method for aerodynamic coupling in close formation， establishes a mathematical model of the wake vortex for highly swept-back wing UAVs， and studies the mechanism of aerodynamic coupling in close formation. Subsequently， the concept of prescribed-time control is introduced into Incremental Nonlinear Dynamic Inversion （INDI） control， enabling the controller to achieve rapid convergence while maintaining strong robustness. Based on this control method， the inner-loop controller for the wingman aircraft is designed to ensure accurate tracking of command signals under aerodynamic disturbances. Since the incremental nonlinear dynamic inversion controller requires angular rate and angular acceleration signals for controlling the inner loop， but the angular rate signals obtained from sensors in practice contain measurement noise， traditional differentiation methods amplify noise and fail to provide accurate angular acceleration signals. To resolve this， the concept of predefined-time control is incorporated into the tracking differentiator， designing a modified tracking differentiator that achieves simultaneous signal tracking and differentiation extraction under noisy conditions， with both robustness and rapid response. The stability of the proposed controller is proven using the Lyapunov theorem， and digital simulations of the entire closed-loop system are conducted. Simulation results demonstrate that the designed controller achieves the expected control effect and meets the attitude control requirements of the wingman aircraft during fixed-wing UAV close formation flight. Comparison with control methods from other literature shows that in close formation scenarios， the controller designed in this paper exhibits faster convergence， smaller steady-state error， and stronger robustness.

Key words: fixed-wing UAV, close formation flight, prescribed-time control, incremental nonlinear dynamic inversion, modified tracking differentiator

CLC Number:

V249

Ruiping ZHENG, Jingping SHI, Tianyu LI, Yongxi LYU. Prescribed-time coordinated control for fixed-wing UAV close formation[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532496.

Figures/Tables 15

Fig.1

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

References 22

[1]	PAHLE J， BERGER D， VENTI M， et al. An initial flight investigation of formation flight for drag reduction on the C-17 aircraft［C］∥AIAA Atmospheric Flight Mechanics Conference. Reston： AIAA， 2012.
[2]	LI W H， SHI J P， WU Y Y， et al. A multi-UCAV cooperative occupation method based on weapon engagement zones for beyond-visual-range air combat［J］. Defence Technology， 2022， 18（6）： 1006-1022.
[3]	VACHON M J， RAY R， WALSH K， et al. F/A-18 aircraft performance benefits measured during the autonomous formation flight project［C］∥AIAA Atmospheric Flight Mechanics Conference and Exhibit. Reston：AIAA， 2002.
[4]	HANSON C E， PAHLE J， REYNOLDS J R， et al. Experimental measurements of fuel savings during aircraft wake surfing［C］∥2018 Atmospheric Flight Mechanics Conference. Reston： AIAA， 2018.
[5]	PACHTER M， D’AZZO J J， PROUD A W. Tight formation flight control［J］. Journal of Guidance， Control， and Dynamics， 2001， 24（2）： 246-254.
[6]	ZHANG Q R， LIU H H T. Aerodynamic model-based robust adaptive control for close formation flight［J］. Aerospace Science and Technology， 2018， 79： 5-16.
[7]	ZHANG Q R， LIU H H. Robust design of close formation flight control via uncertainty and disturbance estimator［C］∥ AIAA Guidance， Navigation， and Control Conference. Reston： AIAA， 2016.
[8]	JACQUIN L， FABRE D， GEFFROY P， et al. The properties of a transport aircraft wake in the extended near field：An experimental study［C］∥39th Aerospace Sciences Meeting and Exhibit. Reston： AIAA， 2001.
[9]	ANDERSON J D. Fundamentals of Aerodynamics［M］. 5th ed. New York： McGraw-Hill， 2011.
[10]	ZHENG R P， LYU Y X. Nonlinear tight formation control of multiple UAVs based on model predictive control［J］. Defence Technology， 2023， 25： 69-75.
[11]	ZHANG Q R， LIU H H T. UDE-based robust command filtered backstepping control for close formation flight［J］. IEEE Transactions on Industrial Electronics， 2018， 65（11）： 8818-8827.
[12]	BUGAJSKI D， ENNS D， ELGERSMA M. A dynamic inversion based control law with application to the high angle-of-attack research vehicle［C］∥Guidance， Navigation and Control Conference. Reston： AIAA， 1990.
[13]	CHENG A H D， CHENG D T. Heritage and early history of the boundary element method［J］. Engineering Analysis with Boundary Elements， 2005， 29（3）： 268-302.
[14]	BERTIN J J， SMITH M L. Aerodynamics for engineers［M］. Englewood Cliffs： Prentice-Hall， 1979.
[15]	ROBINSON A， LAURMANN J A. Wing theory［M］. Cambridge： Cambridge University Press， 2013.
[16]	KURYLOWICH G. A method for assessing the impact of wake vortices on USAF operations： AFFDL-TR-79-3060［R］. Wright-Patterson Air Force Base in Ohio： Air Force Flight Dynamics Laboratory， 1979.
[17]	KALMAN T P， GIESING J P， RODDEN W P. Spanwise distribution of induced drag in subsonic flow by the vortexlattice method［J］. Journal of Aircraft， 1970， 7（6）： 574-576.
[18]	WU C H， YAN J G， SHEN J H， et al. Predefined-time attitude stabilization of receiver aircraft in aerial refueling［J］. IEEE Transactions on Circuits and Systems Ⅱ： Express Briefs， 2021， 68（10）： 3321-3325.
[19]	韩京清. 自抗扰控制技术：估计补偿不确定因素的控制技术［M］. 北京：国防工业出版社， 2008.
	HAN J Q. Active disturbance rejection control technique： The technique for estimating and compensating the uncertainties ［M］. Beijing： National Defense Industry Press， 2008 （in Chinese）.
[20]	SÁNCHEZ-TORRES J D， SANCHEZ E N， LOUKIANOV A G. Predefined-time stability of dynamical systems with sliding modes［C］∥2015 American Control Conference （ACC）. Piscataway： IEEE Press， 2015： 5842-5846.
[21]	WEI Z H， SHI J P， WANG Y G， et al. Fixed-time attitude control of flying-wing unmanned aerial vehicles based on plasma control surface［J］. Aerospace Science and Technology， 2025， 159： 110016.
[22]	李钊星，蔡云鹏，刘茂汉，等. 基于预定义时间的舰载机抗干扰着舰控制［J］. 自动化学报， 2025， 51（6）： 1233-1247.
	LI Z X， CAI Y P， LIU M H， et al. Predefined-time anti interference landing control for carrier-based aircraft［J］. Acta Automatica Sinica， 2025， 51（6）： 1233-1247 （in Chinese）.

参数	数值	符号
机翼面积/m²	1.546	S_ref
翼展/m	2.808	b
平均气动弦长/m	0.78	c
质量/kg	15	m
绕x轴转动惯量/（kg∙m²）	2.369	I_x
绕y轴转动惯量/（kg∙m²）	1.211	I_y
绕z轴转动惯量/（kg∙m²）	3.522	I_z
xOz平面内惯性积/（kg∙m²）	0.022	I_xz

Prescribed-time coordinated control for fixed-wing UAV close formation

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 15

References 22

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Jianfeng WU, Yi DING, Bin ZHOU. Prescribed-time attitude tracking control for spacecraft based on periodic delayed feedback [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 0-532776-.
[2]	Ying AO, Hao CHEN, Huiming LI, Kun XIAO, Xiangke WANG. Hierarchical control method for affine formation of fixed-wing UAV swarm [J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532494-532494.
[3]	Naigang CUI, Guoxin QU, Xinhai MA, Shihao XU, Changzhu WEI. Adaptive prescribed-time/performance control for plane-symmetric aircraft in boost phase [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(6): 531470-531470.
[4]	Chao YAN, Zexu ZHANG, Hutao CUI, Kai ZHANG, Jingzong LIU. Predefined-time affine formation maneuvering control for fixed-wing UAV swarm [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(22): 331824-331824.
[5]	Jianjian LIANG, Shoukun WANG, Shaoming HE. Segmented action guidance strategy for autonomous shipborne landing of fixed-wing UAV [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(13): 531116-531116.
[6]	Yifeng WANG, Yiming PENG, Long LI, Xiaohui WEI, Hong NIE. DQN-based active arrest and recovery technique for UAVs [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(12): 231448-231448.
[7]	Yuqing QIU, Yan LI, Jinxi LANG, Yuxian LIU, Zhong WANG. Robust adaptive attitude control of high-speed helicopters in transition mode [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529927-529927.
[8]	Hongyu YIN, Yu WU, Tianjiao LIANG. Cooperative path planning for patrol coverage of fixed wing UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 328944-328944.
[9]	Jiayu HAO, Yiming PENG, Xiaohui WEI, Hui MA. Design and analysis of active control arresting device based on MR technology [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(12): 428818-428818.
[10]	Yong XU, Hongtao YAN, Tao JIA, Yue MA, Zehua DENG, Duoneng LIU. Aerial simulation docking technology of fixed-wing clustering UAVs [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(5): 326539-326539.
[11]	ZHOU Wei, MA Peiyang, GUO Zheng, WANG Daoping, ZHOU Ruisun. Research of combined fixed-wing UAV based on wingtip chained [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(9): 325946-325946.
[12]	XIANG Xiaojia, YAN Chao, WANG Chang, YIN Dong. Coordination control method for fixed-wing UAV formation through deep reinforcement learning [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(4): 524009-524009.
[13]	ZHANG Chaofan, DONG Qi. Adaptive-gain sliding mode control for fixed-wing UAVs with input saturation [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S1): 723755-723755.
[14]	DANG Xiaowei, TANG Peng, SUN Hongqiang, ZHENG Chen. Incremental nonlinear dynamic inversion control and flight test based on angular acceleration estimation [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(4): 323534-323534.
[15]	WANG Jie, GUO Ziqi, LIU Jianying. Analysis on magnetic compensation model of fixed-wing UAV aeromagnetic detection system [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(11): 3435-3443.