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Adaptive tracking control method for flight formation coordination based on virtual leader

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

Active Publication Date: 2022-08-09
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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  • Adaptive tracking control method for flight formation coordination based on virtual leader
  • Adaptive tracking control method for flight formation coordination based on virtual leader
  • Adaptive tracking control method for flight formation coordination based on virtual leader

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Embodiment Construction

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

[0092] refer to figure 1 , the present invention is a kind of flight formation collaborative adaptive tracking control method based on virtual leader, 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 the roll angle, θ is the pitch angle, ψ is the yaw angle, m=2.3kg is the mass, g=9.81m / s ...

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Abstract

The invention relates to a virtual leader-based collaborative adaptive tracking control method for a flight formation, belonging to the field of formation flight control. This method introduces the coordination strategy of the virtual pilot UAV, sets the relative position of each UAV and the pilot as feedback information, adopts the backstepping method to design the control input, and realizes the coordinated trajectory tracking according to the flight formation. The neural network is used to estimate the dynamic uncertainty, the online data is collected to construct the prediction error to evaluate the estimation ability, and the neural network weight adaptive update law is designed in combination with the tracking error. The present invention considers the influence of the dynamic uncertainty of the model of the multi-UAV system on the tracking performance during the formation flight process, and designs a composite estimation algorithm based on data analysis, which enhances the accuracy of the uncertain estimation and improves the formation flight. Performance offers new technological avenues.

Description

technical field [0001] The invention relates to a multi-aircraft tracking control method, in particular to a virtual leader-based collaborative adaptive tracking control method for flight formations, which belongs to the field of formation flight control. Background technique [0002] For multi-UAV cooperative tracking control, the virtual structure-based strategy describes the group behavior as a whole and simplifies task description and assignment, which can achieve higher formation control accuracy. Considering the influence of the dynamic uncertainty and nonlinearity of the UAV system on the tracking performance of the formation flight, the intelligent control algorithm using the neural network approximation ability for estimation has been widely 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 trac...

Claims

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Application Information

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Patent Type & Authority Patents(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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