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Unmanned airship formation flight control method and system

An unmanned airship and formation flight technology, applied in the field of unmanned airship formation flight control, can solve the problems of low formation control accuracy and stability, etc.

Active Publication Date: 2021-09-07
BEIHANG UNIV
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Problems solved by technology

However, the existing formation control methods for stratospheric airships do not consider the actuator delay problem and the relative position limitation requirements, so the accuracy and stability of formation control are low

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  • Unmanned airship formation flight control method and system
  • Unmanned airship formation flight control method and system
  • Unmanned airship formation flight control method and system

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Embodiment Construction

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. 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.

[0064] The object of the present invention is to provide a method and system for controlling the formation flight of unmanned airships, aiming at the networked underactuated unmanned airships with the requirements of trajectory tracking flight tasks in formation flight, considering the delay problem of its actuators and the relative position limitation requirements, A formation flight trajectory tracking control method based on its nonlinear model is proposed t...

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Abstract

The invention relates to an unmanned airship formation flight control method and system. The method comprises the following steps: determining a barrier Lyapunov function containing a relative position limit value according to an expected formation; designing a virtual controller by using a backstepping method and the barrier Lyapunov function, and carrying out resolving to obtain an output quantity of the virtual controller; calculating an adaptive controller output quantity according to the output quantity of the virtual controller; designing a formation controller by using a backstepping method according to the output quantity of the self-adaptive controller; resolving the formation controller to obtain the output quantity of the formation controller; and controlling the rotating speed of a propeller of the unmanned airship according to the output quantity of the formation controller. According to the method and the system, for the networked underactuated unmanned airship with the formation flight trajectory tracking flight task requirement, the actuator delay problem and the relative position limitation requirement of the unmanned airship are considered, and high-precision and stable control over the formation flight of the unmanned airship is achieved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an unmanned airship formation flight control method. Background technique [0002] An unmanned airship is a lighter-than-air aircraft. The biggest difference between it and a balloon is that it has a propulsion and flight control device. The stratospheric airship is an unmanned airship manufactured by cutting-edge technology that can suspend in the high altitude of the stratosphere for a long time, and is used for military and civilian reconnaissance and observation of the earth's surface. [0003] The stratospheric airship has the following application prospects: [0004] 1) Communication terminal: When a stratospheric airship platform is at a fixed height of 20 kilometers, its effective ground coverage area can reach tens of thousands of square kilometers, which can provide high-speed communication services for a wide area; [0005] 2) Regional monitoring: the advan...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 祝明张一飞陈天郑泽伟
Owner BEIHANG UNIV
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