摘要
针对多UAV在空间路径跟踪下的协同编队控制问题,设计了一种机动指令决策算法。对单架UAV的路径跟踪引入视距导航算法并进行改进,得到航迹方位角和航迹倾斜角的参考指令;对于多UAV协同编队控制,应用图论知识得到空速大小的参考指令;依据参考指令,通过函数解析与数值编程相结合的方法计算出机动指令。仿真结果表明,该算法能够有效控制多UAV从任意初始状态进行预期的路径跟踪协同编队飞行。
For the problems of multi-UAV both path tracking and coordinated formation,a coordinated control algorithm for maneuvering command was designed. For the single UAV path tracking,the reference commands for flight-path azimuth angle and bank angle were got by improving line of sight guidance algorithm. For the multi-UAV coordinated formation control,the reference commands for airspeed were got by applying graph theory. According to the reference commands,the coordinated control commands were calculated by analyzing and programming. Simulation results show that the algorithm can effectively control multi-UAV to perform the expected path tracking and coordinated formation from the any initial states.
出处
《飞行力学》
CSCD
北大核心
2015年第5期471-475,共5页
Flight Dynamics
基金
航空科学基金资助(20145196023)
关键词
多无人机
路径跟踪
协同编队
机动指令
multi-UAV
path tracking
coordinated formation
maneuvering command
