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

ZHANG Jialong; YAN Jianguo; ZHANG Pu

doi:10.7527/S1000-6893.2019.23385

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2020 , Vol. 41 >Issue 1: 323385 - 323385

DOI: https://doi.org/10.7527/S1000-6893.2019.23385

Electronics and Electrical Engineering and Control

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

ZHANG Jialong ,
YAN Jianguo ,
ZHANG Pu

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School of Automation, Northwestern Polytechnical University, Xi'an 710129, China

Received date: 2019-08-15

Revised date: 2019-09-04

Online published: 2019-10-24

Supported by

Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University (CX201955)

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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

Cite this article

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 . DOI: 10.7527/S1000-6893.2019.23385

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