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针对多个无人机的协同运动问题,提出一种多无人机协同运动的虚拟队形制导控制方法。该方法采用跟随-领航者法,借鉴虚拟结构法的思路,首先,根据航路点数据和协同任务队形结构在线规划出虚拟队形期望航路,避免了虚拟结构法刚性结构的缺点;然后,设计非线性航路跟随制导律,导引无人机沿期望航路运动,完成对虚拟队形期望航路的跟踪;第三,基于Lyapunov稳定性理论设计了队形误差控制器,用来补偿由于航路机动带来的航迹切向队形误差;最后,综合制导律和队形误差控制器得到协同运动控制指令。仿真算例表明,该方法能有效实现多个无人机的协同运动。
Aimed at the problem of coordinated motion of multiple UAVs, a virtual formation guidance control method for multi-UAV cooperative motion is proposed. This method adopts follow-pilot method and draws lessons from virtual structure method. First, the virtual formation-shaped expected formation is planned on the basis of waypoint data and collaborative task formation structure, and the shortcoming of rigid structure of virtual structure method is avoided. Then, The nonlinear route follows the guidance law to guide the UAV along the desired route and track the desired formation of the virtual formation. Thirdly, based on the Lyapunov stability theory, a formation error controller is designed to compensate the error of the UAV Tangential formation error; Finally, the integrated guidance law and formation error controller to obtain coordinated motion control instructions. Simulation results show that this method can effectively realize the coordinated motion of multiple UAVs.