Fixed-wing unmanned aerial vehicle cluster affine formation control method based on pilot following mode

Abstract

The invention discloses a fixed-wing unmanned aerial vehicle cluster affine formation control method based on a pilot following mode, and the method comprises the steps: S1, determining a pilot and a follower in a fixed-wing unmanned aerial vehicle formation based on a pilot follower mode, determining the configuration of a nominal formation and a communication topological structure of a cluster, and calculating a stress matrix of the nominal formation; S2, acquiring flight states of pilots in the fixed-wing unmanned aerial vehicle formation in real time, controlling the pilots to move along an expected flight track, and controlling the pilots to cooperate with each other to generate an expected formation; and S3, using a formation tracking control law based on a stress matrix to control followers in the fixed-wing unmanned aerial vehicle formation to track the motion trail of the navigator, and meanwhile, controlling the followers to adjust the relative position relationship between the respective unmanned aerial vehicles under the action of cooperative control to realize generation and affine transformation of a target formation. The method has the advantages of high flexibility, high environmental adaptability, high control performance and the like.

Description

technical field [0001] The present invention relates to the technical field of UAV swarm control, in particular to a fixed-wing UAV swarm affine formation control method based on a pilot-following mode. Background technique [0002] Formation flying is of great significance in practical applications. On the one hand, it can reduce the energy consumption of fixed-wing UAVs and increase the range; on the other hand, it can also enhance the collaboration and fault tolerance of the cluster and improve the completion rate of target tasks. Fixed-wing UAV is an ideal platform for air formation, and its formation flight control method has become a current research hotspot. [0003] There are many multi-agent formation control methods in the prior art, but each has its own advantages and disadvantages. For example, the leader-follower method is currently the most widely used formation control method, which has good scalability, but is less robust and fault-tolerant. Poor; the physic...

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Problems solved by technology

[0006] 1. The traditional multi-agent formation control method is not suitable for formation control of fixed-wing UAV swarms. At present, there is a lack of formation control methods specific to fixed-wing UAV swarms, especially in complex environments, large numbers of UAVs, In the case of diverse mission requirements, there is a lack of swarm control methods for fixed-wing UAVs with high flexibility and good performance;

[0007] 2. The affine formation control method, as a novel multi-agent cluster formation control strategy with application potential, can adapt to various terrain environments and target tasks, but the affine formation control method in the prior art cannot be directly applied In the control of fixed-wing UAV swarms

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