Consistency control method for network formation of multiple unmanned aerial vehicles

Abstract

The invention discloses a consistency control method for a network formation of multiple unmanned aerial vehicles. The consistency control method for the network formation of the multiple unmanned aerial vehicles comprises the steps that pneumatic coupling parameters among the multiple unmanned aerial vehicles are obtained, a pneumatic coupling model among the multiple unmanned aerial vehicles is established based on the parameters, and a motion model of the network formation of the multiple unmanned aerial vehicles is established according to the pneumatic coupling model and a multi-vehicle kinetic model; based on a controlled variable of the motion model of the network formation of the multiple unmanned aerial vehicles, a controlled model of the motion model of the network formation of the multiple unmanned aerial vehicles is extracted, and the controlled model is simplified into a small-nonlinearity controlled model through a dynamic inverse controller; a consistency controller is established, and consistency control is carried out on the small-nonlinearity controlled model based on the consistency controller. By means of the consistency control method for the network formation of the multiple unmanned aerial vehicles, the influence of pneumatic coupling among the vehicles is taken into account when the model is established for the formation of the unmanned aerial vehicles, the formation model more accords with the practical situation, complexity and nonlinearity of the model are lowered through dynamic inversion and consistency control, and the requirement for consistency control is achieved.

Description

Technical field [0001] The invention relates to the technical field of flight control, in particular to a consistency control method of a multi-UAV network formation. Background technique [0002] As the dominant force in the future battlefield, the research and development of UAVs has attracted much attention from all countries. With the development of information-based operations toward integrated joint operations, it is difficult for a single UAV to meet mission requirements, and unmanned aerial vehicle formation flight (Coordinated Formation Flight, CFF) has gradually received attention. Compared with single-plane flight, multi-unmanned formation flying can improve the success rate of missions and the ability to resist emergencies. It can also achieve all-round three-dimensional photography of the target and improve the fidelity of information. It is incomparable to single-plane flight. With a series of advantages, it has become one of the focus issues studied by military ex...

AI Technical Summary

Problems solved by technology

Neural network technology and robust control method are relatively new modern control methods. Although theoretical research and simulation experiments have been done, their specific practical application still needs a lot of experimental verification. In practice, the sliding mode control The verification of conditions such as existence, reachability and stability will be more difficult, and the Lyapunov function in backstepping control is not easy to find

Images