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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,采用长-僚机(leader-wingman)编队模式,按前向、侧向和垂直方向3个通道分别设计了僚机编队控制律,从而使三维编队问题得以简化.对于多机编队的情况,应用基于长机模式(leader mode)和前机模式(front mode)的2种编队控制策略,并通过仿真实验和比较分析,证实了长机模式的优越性.通过2架小型无人机编队队形保持和多架无人机在大机动飞行情况下的队形保持与队形变换等一系列仿真实验,验证了提出的编队飞行控制律的可行性和有效性.
Aiming at the practical background and limitations of a small UAV model and its formation flight, a leader-wingman formation model is used to design the formation control law of the wing formation in three channels of forward, lateral and vertical directions respectively , So that the three-dimensional formation problem can be simplified.For the case of multi-aircraft formation, two formation control strategies based on leader mode and front mode are applied, and through simulation experiments and comparative analysis, Long machine mode.A series of simulations of formation maintenance and formation transformation of a large number of UAVs in the case of large maneuvering flight are carried out by the formation of two small UAV fleet formation and validation of the proposed formation flight Control law is feasible and effective.