Unmanned aerial vehicle cooperative formation method based on finite time control

Abstract

The invention discloses an unmanned aerial vehicle cooperative formation method based on finite time control, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: obtaining the state information of an unmanned aerial vehicle in a flight process, transmitting the state information to an adjacent unmanned aerial vehicle, and receiving the state information sent by the adjacent unmanned aerial vehicle, and sending the acquired state information and the received state information to a distributed finite time formation controller; the distributed finite time formation controller forms a maneuvering instruction through transformation and calculation according to preset formation trajectory information, configuration information and acquired state information of the unmanned aerial vehicle, and the unmanned aerial vehicle flies along a predetermined orbit under the requirement of the maneuvering instruction. According to the invention, by introducing a dynamic gain control technology, finite-time cooperative formation of the unmanned aerial vehicles is realized. The method can enable the controlled system to be stable in finite time, and has the advantages that the controller signals are continuous, the calculated amount is small, and the controlled system does not need to meet the homogeneity hypothesis.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for cooperative formation of unmanned aerial vehicles based on finite time control. Background technique [0002] Unmanned aerial vehicles play a huge role in the military and civilian fields. A large number of facts have proved that there are still many problems when a single unmanned aerial vehicle performs tasks. For example, the limitation of the sensor angle makes it impossible for the unmanned aerial vehicle to effectively cover the entire reconnaissance area when searching for targets in a wide range. In order to improve the success rate of unmanned aerial vehicles to complete a single mission, and to broaden the scope of use of unmanned aerial vehicles, the multi-unmanned aerial vehicles cooperative formation technology emerged as the times require. Considering the motion characteristics of UAVs, the flight formation system requires high control...

AI Technical Summary

Problems solved by technology

However, the inherent non-smooth control characteristics of finite-time stable systems bring great difficulties to the design of related control laws

Therefore, even though finite-time stable systems have the advantages mentioned above, there are still very few studies on the design of finite-time control laws

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