【摘 要】
：
在未知干扰环境下,对无人机编队飞行的稳定性和精度提出了更高的要求,采用常规滑模控制的编队算法由于“抖振”等问题,不适应高精度和稳定性的要求。针对此问题,提出了一种基
【机 构】
：
空军工程大学工程学院,中国人民解放军93802部队,中国人民解放军61902部队,空军驻北京地区军事代表室,
论文部分内容阅读
在未知干扰环境下,对无人机编队飞行的稳定性和精度提出了更高的要求,采用常规滑模控制的编队算法由于“抖振”等问题,不适应高精度和稳定性的要求。针对此问题,提出了一种基于高阶滑模控制的编队飞行控制方法,以三架无人机编队为例,建立了三维空间高阶滑模控制编队控制模型,实现了长机的航路跟踪及僚机的编队队形控制和保持。仿真结果表明,采用高阶滑模的编队控制具有更高的控制精度和可靠性。
Under the condition of unknown disturbance, the stability and accuracy of UAV formation flight are put forward higher requirements. The formation algorithm of conventional sliding mode control is not suitable for the problems of high precision and stability Claim. Aiming at this problem, a method of formation flight control based on high-order sliding mode control is proposed. Taking the formation of three UAVs as an example, a high-order sliding mode control formation control model of three-dimensional space is established, And wingman formation formation control and maintenance. The simulation results show that the formation control with high order sliding mode has higher control accuracy and reliability.
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