Adaptive control method for flight formation cooperative obstacle avoidance based on virtual structure and artificial potential field

Abstract

The invention relates to an adaptive control method for flight formation cooperative obstacle avoidance based on virtual structure and artificial potential field, belongs to the field of formation flight control, and is used for multi-UAV formation obstacle avoidance control and processing the dynamic uncertainty of UAV model. Impact. The method adopts the virtual formation structure and artificial potential field strategy, and combines the target trajectory of the formation reference point and the formation virtual structure particle kinematic model to obtain the virtual particle movement trajectory under collision avoidance and obstacle avoidance as the desired command of the closed-loop system. The UAV control input is designed by the backstepping method to realize the target tracking control under the precise formation keeping and effective obstacle avoidance. Using the dynamic uncertainty of the neural network estimation model, a serial-parallel model is established to obtain the parallel estimation state, the prediction error mining system learning evaluation index is constructed, and the neural network weight update law is designed combined with the tracking error. The present invention enhances the accuracy of uncertainty estimation, and provides a new technical approach for improving formation flight performance.

Description

technical field [0001] The invention relates to a multi-aircraft tracking control method, in particular to a flight formation cooperative obstacle avoidance adaptive control method based on a virtual structure and an artificial potential field, and belongs to the field of formation flight control. Background technique [0002] With the wide application of UAVs in military and civilian applications, the multi-UAV formation flight control technology has important application value for tasks such as collaborative reconnaissance operations and pesticide spraying. For multi-UAV cooperative tracking control, the virtual structure-based strategy describes the group behavior as a whole and simplifies task description and assignment, which can achieve higher formation control accuracy. For UAV collision avoidance and formation obstacle avoidance control between formations, a collaborative control algorithm is designed in combination with artificial potential field and virtual structu...

AI Technical Summary

Problems solved by technology

However, the control algorithm designed in this paper depends on the dynamic characteristics of the model, and it is difficult to achieve fast and stable control of the system.

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