Tanker/UAV formation tracking control with hose connection constraints

Bo LIU; Zhongjie MENG

doi:10.7527/S1000-6893.2022.28210

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2023 , Vol. 44 >Issue 17: 328210 - 328210

DOI: https://doi.org/10.7527/S1000-6893.2022.28210

Electronics and Electrical Engineering and Control

Tanker/UAV formation tracking control with hose connection constraints

Bo LIU ,
Zhongjie MENG

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^1.School of Astronautics，Northwestern Polytechnical University，Xi’an 710072，China
^2.National Key Laboratory of Aerospace Flight Dynamics，Northwestern Polytechnical University，Xi’an 710072，China

E-mail： mengzhongjie@nwpu.edu.cn

Received date: 2022-11-01

Revised date: 2022-12-03

Accepted date: 2022-12-29

Online published: 2023-01-12

Supported by

National Natural Science Foundation of China(62173273);Natural Science Basic Research Plan in Shaanxi Province of China(2020JC-19)

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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

Cite this article

Bo LIU , Zhongjie MENG . Tanker/UAV formation tracking control with hose connection constraints[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(17) : 328210 -328210 . DOI: 10.7527/S1000-6893.2022.28210

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