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A finite-time adaptive control method for flight formation based on event-triggered estimation information transmission

A technology of adaptive control and information transmission, 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 reducing communication pressure

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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  • A finite-time adaptive control method for flight formation based on event-triggered estimation information transmission
  • A finite-time adaptive control method for flight formation based on event-triggered estimation information transmission
  • A finite-time adaptive control method for flight formation based on event-triggered estimation information transmission

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Embodiment Construction

[0105] In order to make the purpose, technical solutions and advantages of the invention more clear and clear, the following combined with the attachment and embodiments to further explain the present invention in detail. It should be understood that the specific embodiments described here are only used to explain the invention and do not limit the present invention. In addition, the technical characteristics involved in the embodiments described below can be combined with each other as long as they do not constitute a conflict between each other.

[0106] Reference figure 1 , The invention is an adaptive control method based on an event -based flight formation limited time. The following steps are implemented through the following steps:

[0107] (A) UAV dynamic model:

[0108]

[0109] In the formula, x, y, z are positions, It is a horizontal roller, θ is pitch angle, ψ is a partial angle, M = 2.3kg is quality, G = 9.81m / s2 For gravity acceleration, i x = 1.676 × 10 -2 kg · m...

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Abstract

The invention relates to a limited-time adaptive control method for a flight formation based on event-triggered estimation information transmission, belonging to the field of formation flight control, aiming at the multi-UAV formation flight control with dynamic uncertainty, and mainly focuses on some unmanned aerial vehicles in the formation. The problem of insufficient machine estimation ability and the improvement of system tracking control performance. 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 and finite time convergence algorithm to design the control input, and realizes the coordinated trajectory according to the flight formation. track. Neural network is used to estimate dynamics uncertainty, online data is collected to construct prediction error evaluation ability, and estimated information between formations is shared in combination with event trigger conditions, and applied to the adaptive update law to improve the multi-UAV's ability to predict model uncertainty. Estimate capability, reduce formation communication pressure, and improve flight control performance.

Description

Technical field [0001] The present invention involves a multi -aircraft tracking control method, especially a limited adaptation control method based on the limited time of the flight formation of an event -based on the estimation information transmission, which is the field of formation flight control. Background technique [0002] Aiming at the co -tracking control of multiple drones, the strategy based on the virtual structure describes group behavior as a whole and simplifies the description and distribution of tasks, and can obtain higher formation of formation control accuracy. Considering the impact of dynamic uncertainty and non -linearity on formation flight tracking performance of the drone system, the intelligent control algorithm using neural network approaching capabilities has been widely studied. However, the existing flight control needs to ensure that the drone between the formation has an estimation ability. Once some drones cannot guarantee the accurate estimat...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104Y02T90/00
Inventor 许斌寿莹鑫马波唐勇倪静
Owner NORTHWESTERN POLYTECHNICAL UNIV
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