[1]秦世引,潘宇雄,苏善伟.小型无人机编队飞行的控制律设计与仿真[J].智能系统学报,2009,4(03):218-225.
 QIN Shi-yin,PAN Yu-xiong,SU Shan-wei.Design and simulation of formation flight control laws for small unmanned aerial vehicles[J].CAAI Transactions on Intelligent Systems,2009,4(03):218-225.
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小型无人机编队飞行的控制律设计与仿真(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第4卷
期数:
2009年03期
页码:
218-225
栏目:
学术论文—智能系统
出版日期:
2009-06-25

文章信息/Info

Title:
Design and simulation of formation flight control laws for small unmanned aerial vehicles
文章编号:
1673-4785(2009)03-0218-08
作者:
秦世引潘宇雄苏善伟
北京航空航天大学 自动化科学与电气工程学院,北京 100191
Author(s):
QIN Shi-yin PAN Yu-xiong SU Shan-wei
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
关键词:
无人机 编队飞行 编队控制律 队形保持 队形变换
Keywords:
unmanned aerial vehicle formation flight formation control law formation keeping formation changing
分类号:
TP273.1
文献标志码:
A
摘要:
针对一种小型无人机模型及其编队飞行的实际背景和限制条件,采用长〖KG-*1/5〗-〖KG-*1/5〗僚机(leaderwingman)编队模式,按前向、侧向和垂直方向3个通道分别设计了僚机编队控制律,从而使三维编队问题得以简化.对于多机编队的情况,应用基于长机模式(leader mode)和前机模式(front mode)的2种编队控制策略,并通过仿真实验和比较分析,证实了长机模式的优越性.通过2架小型无人机编队队形保持和多架无人机在大机动飞行情况下的队形保持与队形变换等一系列仿真实验,验证了提出的编队飞行控制律的可行性和有效性.
Abstract:
Based on general conditions as well as those limiting formation flight for small unmanned aerial vehicles (UAV), formation control laws were designed and then validated through simulations. Using the principle of leaderwingman so as to reduce the design complexity of the 3D formation flight controls, three types of control laws were designed, covering forward, lateral and vertical motion respectively. The corresponding implementation algorithms were then analyzed. In view of formation control for multiUAVs, some detailed comparative studies of control performance between leader mode and front mode were carried out. Simulation results showed that the former outperforms the latter. Simulation results of formation keeping for two small UAVs and multiple UAVs under highly maneuvered flight conditions proved the feasibility and effectiveness of the formation control laws.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2008-09-24.
基金项目:国防基础科研基金资助项目(D212006001);
国家自然科学基金重点资助项目(60736025);
国家自然科学基金资助项目(60875072).
通信作者:潘宇雄.E-mail:twhpyx@163.com.
作者简介:秦世引,男,1955年生,教授,博士生导师,主要研究方向为复杂系统的智能控制、图像处理与模式识别等. 作为负责人主持完成(或在研) 国家攀登计划项目的子项目、国家973 项目的子课题、国家863项目、国家自然科学基金项目、国防科技预研基金项目、武器装备预研基金项目等18项. 1999年获全国优秀科技图书奖暨科技进步奖(科技著作) 一等奖, 1999年获国家第五届工程设计优秀软件金奖.发表学术论文130余篇,出版学术著作1部,研究生教材1部,译著2部. 潘宇雄,男,1983年生,硕士研究生,主要研究方向为无人机编队飞行过程建模与智能优化控制.
 苏善伟,男,1979年生,博士研究生,主要研究方向为多机器人混杂系统的智能控制、无人机编队飞行控制、大规模复杂系统的综合集成建模与智能优化控制等.
更新日期/Last Update: 2009-08-31