Unmanned aerial vehicle formation keeping control method based on self-adaptive control

Abstract

The invention discloses an unmanned aerial vehicle formation keeping control method based on self-adaptive control. The formation keeping control method can be designed for unmanned aerial vehicles according to unmanned aerial vehicle formation and unmanned aerial vehicle queues interfered by unknown outside. Each unmanned aerial vehicle comprises a flight control system and a self-adaptive formation keeping controller. The flight control systems linearize nonlinear models of unmanned aerial vehicles based on a small perturbation theory, and a reference model of a self-adaptive control systemis established according to the relative degree of required control amount. Self-adaptive control law online-updating controller parameters are designed so that the unmanned aerial vehicles can more accurately trace given instructions. The self-adaptive formation keeping controllers converge errors to zero according to formation flight separation distances between a leading plane and wing planes,and leading plane growth speed, heading and height instructions are designed for the self-adaptive formation keeping controllers so that the wing planes can be more accurately trace a flight path of the leading plane. The good tracing property and stability of the whole closed-loop system are ensured, so that the system has certain robust performance.

Description

technical field [0001] The invention relates to an adaptive control-based unmanned aerial vehicle formation maintenance control method, and belongs to the technical field of aerospace propulsion control. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an abbreviation for a power-driven, unmanned, reusable aircraft. Due to its low cost, light weight, small size, strong adaptability and flexible mobility, it has been more and more widely used in various fields of military and national economy, and has been highly valued by various countries all over the world. Although UAVs have many advantages, there are still many problems that cannot be solved by a single machine. Aiming at these problems, after years of hard work, researchers put forward the method of formation flight through the observation and analysis of biological group phenomena. This measure will give full play to the role of a single aircraft as much as possible, and expand the use range of the form...

AI Technical Summary

Problems solved by technology

Therefore, if the flight control system is designed based on known model parameters, or the formation controller is designed without accurately estimating the unknown external disturbance, it will make it difficult for the UAV's formation maintenance control system to work in an optimal state.

[0005] In summary, the prior art lacks control methods for UAV models with uncertain parameters and suppression methods for unknown external disturbances, which cannot meet the requirements for precise control of UAV formation formations, and it is difficult to make the entire closed-loop system have Stability and Robustness

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