Volume 36, Number 2, April 2018
|Page(s)||345 - 352|
|Published online||03 July 2018|
Study on the High-Speed and Close of the UVA Cooperative Formation Controller Design
School of Automation Control, Northwestern Polytechnical University, Xi'an 710129, China
2 School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China
3 College of Equipment Management and Safety Engineering, Air Force Engineering University, Xi'an 710051, China
Aiming at the high-speed flight of the UAVs cooperative formation, when a single UAV has occurred, need to exit the formation flight and be close or super close to form of the formation quickly. A fast close cooperative formation controller design method is proposed to make up for low the fighting robustness, and be shortcomings of timeliness poorly and analyze the dynamic characteristic of UAV formation flight. Taking the external factors known into consideration, setting up for the longitude maneuver of nonlinear thrust vector and unsteady aerodynamic model, according to the formation velocity, flat tail rudder angle and thrust vector and pitch angle velocity for corresponding input commend signals for the controller to research the dynamic characteristic of UAV formation flight. Meanwhile, the formation flight distance error is the convergence to a fixed value, and the stability of the cooperative formation flight is good. The simulation of results show that the controller can effectively improve the speed of the close or super close to formation, and maintain the stability of the formation flight, which provides a method of the close or super close formation flight controller design.
Key words: UAVs formation / multi-UAVs cooperation / controller design / flight stability / dynamic characteristic
关键字 : 无人机编队 / 多机协同 / 控制器设计 / 飞行稳定性 / 动态特性
© 2018 Journal of Northwestern Polytechnical University. All rights reserved.
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