无人飞行器编队队形控制研究

摘要

In the study on UAV formation, a relative movement model of UAV formation was constructed at first based on flight path coordinate system, which solved the problem of uncontrollable points existed in speed coordinate system. Then, the predictive control structure for UAV formation keeping was designed, and the corresponding performance indexes were given through establishment of non-linear prediction model. By adopting numerical computing and analytical method, quadratic performance index was optimized using the steepest descent method, and the formation controller was completed. Finally a simulink simulation was made, and the results show that this method can be used for formation keeping of UAV formation.%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.