火力与指挥控制2024，Vol.49Issue(12)：36-46,11.DOI:10.3969/j.issn.1002-0640.2024.12.004
基于时变速度估计的方位刚性UAV编队控制
Bearing Rigid UAV Formation Control Based on Time-varying Velocity Estimation
摘要
Abstract
This paper investigates the control method of multi-UAV formation based on the bearing rigidity theory,where only certain wingmen in the formation possess information about the leader's orien-tation.Combining the principles of consistency and adaptive control,a time-varying speed formation flight control scheme based on speed estimation is designed to achieve the scaling and translation control.The wingman control algorithm is improved within the formation coordinate system to achieve the rotation control of the formation.After simulation verification,the method is able to realize the translation and scaling control of the formation in three-dimensional space,and the rotation control of the formation is verified in horizontal space.关键词
无人机编队/方位刚性理论/一致性/自适应控制/速度估计Key words
formation maneuver/bearing rigidity theory/consistency/adaptive control/velocity estimation分类
航空航天引用本文复制引用
段嘉铭,李春涛..基于时变速度估计的方位刚性UAV编队控制[J].火力与指挥控制,2024,49(12):36-46,11.基金项目
国家自然科学基金资助项目 （）
