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针对多UAV协同运动控制问题,研究了一种非线性制导跟踪控制律,利用期望航迹和UAV的位置关系推导出侧向加速度表达式,在侧向加速度作用下实现对期望航迹的准确跟踪。提出了一种虚拟队形制导协同运动控制方法,首先设计了虚拟队形的期望航迹,采用非线性制导律实现多UAV对虚拟队形的航迹跟踪,在此基础上,通过协同成员间的通信建立位置误差控制方程,实现速度的补偿控制,将UAV调整到期望的队形位置上。仿真结果表明,该方法能有效实现多UAV的协同运动。
Aiming at the problem of multi-UAV coordinated motion control, a nonlinear guidance tracking control law is studied. The lateral acceleration expression is derived from the position relationship between the desired track and the UAV, and the accurate tracking of the desired track is achieved under lateral acceleration . A virtual formation guidance coordinated motion control method is proposed. Firstly, the desired track of the virtual formation is designed and the nonlinear guidance law is used to track the trajectory of the virtual formation by multi-UAV. On this basis, Of the communication to establish position error control equations to achieve the speed of compensation control, the UAV will be adjusted to the desired formation position. The simulation results show that this method can effectively achieve the coordinated motion of multi-UAV.