[1]朱杰斌,秦世引.无人机编队飞行的分布式控制策略与控制器设计[J].智能系统学报,2010,5(5):392-399.[doi:10.3969/j.issn.1673-4785.2010.05.003]
ZHU Jie-bin,QIN Shi-yin.Distributed control strategy and controller design for UAV formation flight[J].CAAI Transactions on Intelligent Systems,2010,5(5):392-399.[doi:10.3969/j.issn.1673-4785.2010.05.003]
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ZHU Jie-bin,QIN Shi-yin.Distributed control strategy and controller design for UAV formation flight[J].CAAI Transactions on Intelligent Systems,2010,5(5):392-399.[doi:10.3969/j.issn.1673-4785.2010.05.003]
无人机编队飞行的分布式控制策略与控制器设计
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
5
期数:
2010年第5期
页码:
392-399
栏目:
学术论文—智能系统
出版日期:
2010-10-25
- Title:
- Distributed control strategy and controller design for UAV formation flight
- 文章编号:
- 1673-4785(2010)05-0392-08
- 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，分析了编队飞行所必须涉及的队形保持、约束条件以及行为协调等关键性问题，进而引入分布式编队飞行控制策略并简要介绍了其优越性.根据分布式策略的层级概念，先后讨论了单机控制器的设计与上层的编队控制器的设计.最后分别进行了单机的FDC(flight dynamic and control)仿真和双机编队仿真.仿真结果表明，设计的控制器在执行效率和控制性能等方面具有突出的优势.
- Abstract:
- In view of the practical background and constraints of formation flight for a class of small UAV models, some key problems involved in formation flight, such as maintaining formation, environmental constraints, and behavior coordination were analyzed in depth in order to introduce the distributed control strategy for formation flight and discuss its advantages. According to the hierarchical concepts and organizational structure of distributed controls, the controller design for both single UAV and multi-UAV formations were studied， respectively. Therefore, the FDC (flight dynamics and control) simulation for single UAV and general Simulink simulation for two-UAV formation flights were carried out separately. The simulation results show that the proposed controllers provide some outstanding advantages in executive efficiency and control performance.
- 参考文献/References:
-
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备注/Memo
收稿日期：2010-07-26.
基金项目：国防基础研究基金资助项目（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：朱杰斌.E-mail:zjbbuaa@126.com.
作者简介：
朱杰斌，男，1987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.
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.
更新日期/Last Update:
2010-11-24