自动化学报2025，Vol.51Issue(2)：312-326,15.DOI:10.16383/j.aas.c240405
基于模型预测控制的子母式无人机编队飞行控制方法
Model Predictive Control-based Formation Flight Control Method for Composite UAVs
摘要
Abstract
Composite unmanned aerial vehicles(UAVs)typically refer to a class of novel aircraft,each of which in-volves a carrier UAV deploying and airdropping multiple parasite UAVs for collaborative operations.Compared to traditional UAVs and UAV swarms,composite UAVs offer significant advantages in terms of extended range and enhanced spatial accessibility,garnering widespread attention.First,the dynamic model of the composite UAV is established for the problem of attitude stabilization control for the carrier UAV and trajectory tracking control for the parasite UAVs during formation flight tasks.On this basis,the flight control method based on multi-equilibri-um switched model predictive control,as well as the trajectory tracking control method based on model predictive control with the polytopic model uncertainty,are designed to achieve a stable and safe formation flight of the com-posite UAV.Simulation results indicate that the proposed methods achieve the anticipated formation flight,demon-strating satisfying stability and robustness.关键词
子母式无人机/模型预测控制/切换控制/编队控制Key words
Composite unmanned aerial vehicles(UAVs)/model predictive control/switched control/formation control引用本文复制引用
李云鹏,张立宪,韩岳江,蔡博,张宇轩,肖广洲..基于模型预测控制的子母式无人机编队飞行控制方法[J].自动化学报,2025,51(2):312-326,15.基金项目
国家自然科学基金(62225305,12072088),中央高校基本科研业务费专项基金(HIT.OCEF.2022047,HIT.BRET.2022004,HIT DZIJ.2023049),基础科研项目(2022603C016),机器人与系统国家重点实验室(HIT),黑龙江头雁团队资助Supported by National Natural Science Foundation of China(62225305,12072088),the Fundamental Research Funds for the Central Universities,China(HIT.OCEF.2022047,HIT.BRET.2022004,HITDZIJ.2023049),the Basic Research Project(2022603C016),State Key Laboratory of Robotics and System(HIT),and the Heilongjiang Touyan Team （62225305,12072088）
