Cooperative Formation Control Technology for Manned/Unmanned Aerial Vehicles

摘要

This paper focuses on the cooperative formation of manned aerial vehicles (MAVs) and unmanned aerial vehicles (UAVs). Firstly, the characteristics of the MAV/UAVs and the mission assignment of MAV and UAVs in the formation is analyzed, and the mathematical model of MAV and UAV are built. At the same time, the relative kinematics equations of the MAV/UAVs formation based on Leader-Follower mode are also built. These work lays foundation for the later research on cooperative operation of MAV/UAVs formation. Secondly, new formation shapes are designed referring the operation experience of MAVs formation and considering the unique features of MAV/UAVs formation. And these formation shapes are encapsulated into a formation library with which the fleet can expand or adjust the formation flexibly according to real battle demands. Moreover. UAVs maneuvers are designed and these maneuvers are also encapsulated into a maneuver library. Lastly, the flight control system is designed for UAVs in order to enable them to fly stably following expected flight state. Furthermore, the management strategies of MAV/UAVs formation including formation organization, formation maintain and formation reconstruction are analyzed based on the formation library and maneuver library. The result of this paper is meaningful for both theoretical research and practical application of MAV/UAVs formation.