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针对无人飞行器编队队形控制,首先建立基于航迹坐标系的无人飞行器编队相对运动模型,解决了速度坐标系中存在的不可控点的缺陷;接着进行无人飞行器编队队形保持的预测控制结构设计,通过建立相对运动的非线性预测模型,设计相应的性能指标,采用数值计算和解析相结合的方法,用最速下降法来滚动优化二次型性能指标,完成了无人飞行器编队控制器的设计;最后进行了Simulink仿真,仿真结果表明该方法能够较好地实现无人飞行器编队队形保持控制。
Aiming at the formation control of unmanned aerial vehicles (UAV), the relative movement model of unmanned aircraft formation based on the track coordinate system is first established, and the defects of uncontrollable points existing in the speed coordinate system are solved. Then, the formation prediction of unmanned aircraft formation formation Control structure design, through the establishment of non-linear predictive model of relative motion, the design of the corresponding performance indicators, the use of numerical calculation and analysis of a combination of method, with the steepest descent method to scroll optimization quadratic performance indicators completed UAV formation control Finally, the Simulink simulation is carried out. The simulation results show that this method can well control the UAV formation formation.