Unmanned aerial vehicle (UAV)-unmanned ground vehicle (UGV) combined formation cooperative control method

Abstract

The invention discloses an unmanned aerial vehicle (UAV)-unmanned ground vehicle (UGV) combined formation cooperative control method, comprising the following steps: step 1, establishing nonlinear dynamical models of unmanned vehicles in UAV-UGV combined formation; step 2, processing the nonlinear dynamical models of a UAV and a UGV via equivalent transformation, and taking acceleration as a common control target quantity, obtaining a unified control model taking acceleration as a control input in the combined formation; step 3, establishing a ground-air combined formation structure based on a virtual pilot to obtain a stable control signal for the UAV-UGV combined formation and obtain an error model of the combined formation, wherein the control signal is acceleration obtained in step 2 as a common control target quantity; and step 4, designing a UAV-UGV combined formation controller by adopting a RBF (Radial Basis Function) network algorithm according to the control model, the error model and the acceleration serving as a control signal and a control target quantity at the same time, so that the combined formation is stable and reliable.

Description

technical field [0001] The invention belongs to the intersecting field of aviation control and traffic control, and relates to a cooperative control method of heterogeneous unmanned aerial vehicle ground-air joint formation, in particular to a cooperative control method of unmanned aerial vehicle-unmanned vehicle joint formation. Background technique [0002] In recent years, UAV-UAV joint formation, as the research frontier of heterogeneous UAV joint formation, has attracted widespread attention. UAVs can use their height to obtain a farther forward view, while unmanned vehicles can observe specific details close to objects. For the completion of certain tasks, the joint formation of UAVs and unmanned vehicles is better than that of unmanned vehicles alone. Aircraft or unmanned vehicle formations have more advantages, such as completing tasks such as investigation of large areas or minefields, geographic surveys, armed search, rescue and transportation. It is necessary to ...

AI Technical Summary

Problems solved by technology

The principle of the virtual navigator method is mainly that the navigator sends state information to the UAV as its control input. However, by analyzing the nonlinear dynamic models of the UAV and the UAV, it is found that the control target quantities of the two models are inconsistent. This inconsistency The design difficulty of the formation controller is increased and the structure of the UAV-UAV joint formation control system is established

At the same time, the rapid state change of each unmanned aerial vehicle in the joint formation requires higher real-time performance of the formation controller, the convergence speed of traditional algorithms will be slower, and the steady-state error will be relatively large, PID, genetic algorithm, fuzzy control The algorithm cannot meet the precise control requirements of the joint formation

[0004] To sum up, when the existing UAV-unmanned vehicle joint formation cooperative control, there will be problems such as difficult establishment of formation model, inconsistent control goals, poor formation stability and reliability, and high real-time performance of formation controllers.

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