Autonomous cooperative control method and system based on distributed consistency and self-networking
A collaborative control and consistent technology, applied in the control/adjustment system, non-electric variable control, three-dimensional position/course control, etc., can solve the problem that the flight time cannot be normally converged, the cooperative guidance accuracy is not good, and the guidance error increases, etc. problem, to achieve the effect of reducing the amount of data processing, improving control accuracy and efficiency, and reducing the amount of communication
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[0061] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0062] In order to realize cooperative flight, the embodiment of the present invention adopts a three-layer cooperative structure, such as figure 1 As shown, the bottom layer is the guidance method of terminal time and angle control (ITACG) for the control of the aircraft body, which realizes the guidance control of the aircraft body; Coordinated control; the top layer is the autonomous management of group members, considering the space-time collaborative guidance under the c...
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