计算机工程与应用2016，Vol.52Issue(16)：1-6,6.DOI:10.3778/j.issn.1002-8331.1512-0236
多无人机系统分布式编队控制
Method of distributed UAV formation control
摘要
Abstract
According to the second-order consensus protocol with virtual navigator, the problem of Unmanned Aerial Vehicle’s(UAV)distributed formation in three-dimensional space is discussed. UAV’s nonlinear kinetic model is trans-formed into linear model by feedback linearization;The original control inputs are transferred into the accelerations in inertial coordinate system’s three axes and the linear model is solved by the consensus algorithm which makes the UAVs can build up stable and desired formation and move along virtual navigator with some air line at expected speed. The error function is defined and the stability of the system is proved based on Lyapunov stability principle. The validity of the algo-rithm and model is verified by simulation.关键词
无人机/反馈线性化/一致性/分布式编队Key words
Unmanned Aerial Vehicle(UAV)/feedback linearization/consensus/distributed formation分类
航空航天引用本文复制引用
王品,姚佩阳..多无人机系统分布式编队控制[J].计算机工程与应用,2016,52(16):1-6,6.基金项目
国家自然科学基金（No.61273048）。 （）
