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Coordinated control method and system for formation aircrafts oriented to fixed time

A fixed-time, collaborative control technology, applied in the field of control science, to achieve the effects of high convergence accuracy, good practical application value, and strong robustness

Active Publication Date: 2021-02-19
北京铭海博纳科技发展有限公司
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Problems solved by technology

On the other hand, due to the actual flight process, the formation system is often affected by factors such as system nonlinearity, communication delay, and directed communication. These constraints make it difficult to directly extend the existing results on limited-time formation cooperative control to fixed In the case of time coordinated control, it brings great challenges to the design and stability analysis of formation fixed time control protocols

Method used

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  • Coordinated control method and system for formation aircrafts oriented to fixed time
  • Coordinated control method and system for formation aircrafts oriented to fixed time
  • Coordinated control method and system for formation aircrafts oriented to fixed time

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specific Embodiment

[0158] In a specific embodiment, a formation system composed of a leader and four followers is selected, and in the dynamic equation of the leader and the follower:

[0159]

[0160] g(x)=tanh(x)

[0161] The initial position and velocity of the leader and each follower are randomly set to any value in the interval [0,2]×[0,2]. The communication topology between formation members is as follows: image 3 shown.

[0162] Choose the controller parameter Γ 1 =20,Γ 2 =4,Γ 3 =5,Γ 4 =6,Γ 5 =7, m=5, r=3, p=5, q=7, select system self-delay τ i = 0.05s.

[0163] Simulation results such as Figure 4 to Figure 7 As shown, it can be seen from the simulation results that under complex constraints, the control protocol can guarantee the state coordination within a fixed time, and the speed tends to be consistent, realizing the tracking of the navigator's trajectory.

[0164] like Figure 8 Shown is a schematic diagram of a computer device according to an embodiment of the presen...

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Abstract

The invention provides a method and system for coordinated control of formation aircrafts oriented to fixed time. Among them, a fixed-time-oriented cooperative control method of formation aircraft includes: a formation system composed of a leader and n followers, establishing a dynamic model of the formation system; measuring the state of the formation members; designing the formation based on the state of the formation members Coupling state error variables; based on the formation coupling state error variables, design a fixed-time cooperative control protocol for the i-th aircraft to ensure that the formation member states achieve coordination within a fixed time; where, i=1,2,...,n. Through the technical scheme of the invention, the problem of coordinated control of the formation's fixed time state is solved, and the time is only related to the controller parameters, and has nothing to do with the initial state of the system. Precise control under the condition of directional communication.

Description

technical field [0001] The present invention relates to the field of control science and technology, in particular, to a fixed-time oriented formation aircraft cooperative control method, a fixed-time oriented formation aircraft cooperative control system, a computer device, and a computer-readable storage medium. Background technique [0002] In recent years, aircraft such as small satellites and unmanned aerial vehicles have attracted great attention from experts and scholars at home and abroad due to their huge advantages and broad prospects in the fields of military reconnaissance, deep space exploration, environmental monitoring, and positioning services. important research direction. For formation vehicles, convergence performance / time is a key indicator. Although finite-time control has the advantages of high precision and strong robustness, its convergence time is closely related to the initial state of the system, which limits its application range. In many practi...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 马肸王业全何兵孙明月
Owner 北京铭海博纳科技发展有限公司
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