Formation keeping control method for unmanned aerial vehicles based on adaptive control

Abstract

The invention discloses a UAV formation maintenance control method based on adaptive control, which can design a formation maintenance control method for UAVs based on the formation of the UAV formation and for UAV formations subject to unknown external disturbances. The UAV includes a flight control system and an adaptive formation keeping controller. For the flight control system, the nonlinear model of the UAV is linearized based on the small perturbation principle, and a reference model of the adaptive control system is established based on the relative order of the required control quantities. An adaptive control law is designed to update controller parameters online so that the UAV can track given instructions more accurately. For the formation keeping controller, based on the formation flying distance error between the lead aircraft and the wingman converging to zero, the formation keeping controller is designed to generate speed, heading and altitude instructions for the wingman, so that the wingman can more accurately track the flight trajectory of the lead aircraft. The invention ensures good tracking and stability of the entire closed-loop system, and enables the system to have 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...

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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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