Formation keeping control for manned/unmanned aerial vehicle formation based on leader-follower strategy

被引：0
|
作者：
Wu L.-Y. [1 ]
Han W. [1 ]
Zhang Y. [1 ]
Su X.-C. [1 ]
Piao H.-Y. [2 ]
机构：
[1] College of Aviation Foundation, Naval Aviation University, Yantai
[2] Shenyang Aircraft Design and Research Institute, Shenyang
来源：
Kongzhi yu Juece/Control and Decision | 2021年 / 36卷 / 10期
关键词：
Adaptive control; Dynamic feedback; Formation keeping; MAV/UAV formation; Time-varying disturbances;
D O I：
10.13195/j.kzyjc.2020.0453
中图分类号：
学科分类号：
摘要：
In order to solve the formation keeping problem for a manned / unmanned aerial vehicle (MAV / UAV) formation flight, this paper designs a formation keeping controller for MAV / UAV formation based on a leader-follower strategy. Firstly, the structure of the MAV / UAV formation control system is designed from the view of the formation combat system and the control principle. Then, the formation relative distance-angle kinematic model is established based on the geometric relationship between the leaders and followers. Finally, in consideration of the follower's control model with time-varying disturbances, a dynamic feedback and adaptive controller is designed according to characteristics of the formation kinematic model, and the stability of the controller is analyzed based on the Lyapunov theory. Simulations demonstrate that the designed controller can suppress the influence of the uncertainty disturbance, realize rapid formation adjustment from the initial error to the desired formation and stable formation keeping. © 2021, Editorial Office of Control and Decision. All right reserved.
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页码：2435 / 2441
页数：6
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