无人机空中加油过程中编队飞行控制

摘要

针对空中加油中无人机位置保持问题，进行了时变质量UAV的动力学建模与非线性控制设计。综合考虑了燃油传输对UAV的质量、惯性矩阵和质心位置的影响，基于相对于惯性系的状态变量，推导了UAV时变质量动力学方程。分析燃油传输带来的动力学影响，并设计神经网络动态逆控制律来实现UAV的位置保持，通过非线性仿真验证了控制律的有效性。%To keep the position of an unmanned air vehicle (UAV) during autonomous aerial refueling, we develop the dynamic model and put forward a nonlinear controller for the UAV with time-varying mass. By comprehensively considering the effect of fuel transfer on the UAV mass, the inertia matrix and the center of mass, we derive the time-varying mass dynamic equations of UAV based on state variables relative to inertial reference frame. Through analyzing the dynamic characteristic effect of fuel transfer, we design neural network dynamic inversion control law to keep the position of unmanned air vehicle, and nonlinear simulation demonstrates the effectiveness of the flight control law.