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Flight formation cooperative adaptive tracking control method based on virtual leader

An adaptive tracking and control method technology, applied in the field of formation flight control, can solve problems such as difficult to achieve fast and stable control of the system, and achieve the effect of improving the estimation accuracy

Active Publication Date: 2021-08-06
NORTHWESTERN POLYTECHNICAL UNIV +1
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Problems solved by technology

However, the control algorithm designed in this paper depends on the dynamic characteristics of the model, and it is difficult to achieve fast and stable control of the system.

Method used

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  • Flight formation cooperative adaptive tracking control method based on virtual leader
  • Flight formation cooperative adaptive tracking control method based on virtual leader
  • Flight formation cooperative adaptive tracking control method based on virtual leader

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Embodiment Construction

[0091] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0092] refer to figure 1 , the present invention is based on a virtual leader-based flight formation cooperative adaptive tracking control method, which is realized by the following steps:

[0093] (a) Using the dynamic model of the UAV:

[0094]

[0095] In the formula, x, y, z are the positions, is roll angle, θ is pitch angle, ψ is yaw angle, m=2.3kg is mass, g=9.81m / s 2 is the acceleration due to...

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Abstract

The invention relates to a flight formation cooperative adaptive tracking control method based on a virtual leader, and belongs to the field of formation flight control. According to the method, a virtual pilot unmanned aerial vehicle coordination strategy is introduced, the relative position of each unmanned aerial vehicle and a pilot is set as feedback information, control input is designed by adopting a backstepping method, and coordinated trajectory tracking is realized according to a flight formation. A neural network is adopted to estimate dynamics uncertainty, online data is collected to construct prediction error evaluation estimation capability, and a neural network weight adaptive updating law is designed in combination with a tracking error. According to the method, the influence of the problem of dynamic uncertainty of the model in the formation flight process of the multi-unmanned aerial vehicle system on the tracking performance is considered, a composite estimation algorithm based on data analysis is designed, the precision of uncertainty estimation is enhanced, and a new technical approach is provided for improving the formation flight performance.

Description

technical field [0001] The invention relates to a multi-aircraft tracking control method, in particular to a virtual leader-based flight formation cooperative self-adaptive tracking control method, which belongs to the field of formation flight control. Background technique [0002] For multi-UAV cooperative tracking control, the strategy based on virtual structure describes group behavior as a whole and simplifies task description and assignment, which can achieve high formation control accuracy. Considering the influence of dynamic uncertainties and nonlinearities in UAV systems on formation flight tracking performance, intelligent control algorithms using neural network approximation capabilities for estimation have been extensively studied. However, the current intelligent control can only guarantee the stability of the system, ignoring the evaluation of the expected nonlinear estimation performance. In order to improve the performance of cooperative tracking control an...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104Y02T10/40
Inventor 许斌寿莹鑫马波唐勇胡逸雯
Owner NORTHWESTERN POLYTECHNICAL UNIV
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