航空科学技术2025，Vol.36Issue(3)：1-9,9.DOI:10.19452/j.issn1007-5453.2025.03.001
基于领航跟随法的飞行器固定时间与预设性能分布式编队控制
Fixed-time and Prescribed Performance Distributed Formation Control of Aircraft Based on Leader-follower Method
摘要
Abstract
Aircraft formation flight can make full use of the advantages of scale to complete more complex tasks,and has stronger robustness,scalability and fault tolerance.A fixed-time non-singular terminal sliding mode controller and a prescribed performance controller are proposed for the formation maintenance and reconfiguration stages of aircraft formation system separately.In the process of control command response,the autopilot of the aircraft is regarded as a first-order inertial element with delay.Firstly,the leader-follower method is combined with distributed communication strategy to define the formation tracking error based on the state information of adjacent aircrafts.Secondly,a fixed-time non-singular terminal sliding mode formation controller is designed.Compared with traditional non-singular terminal sliding mode surface,the value range of power terms of the sliding mode surface is wider.Furthermore,the designed variable power reaching law can not only adapt to different states of the system,but also converge globally and rapidly in a fixed time.Finally,the overshoot,transient and steady-state performance of the formation position tracking error can be limited by the prescribed performance of the formation reconfiguration controller,to ensure that the tracking error can satisfy the constraint requirements during the formation reconstruction stage.In this paper,by the design of the fixed-time non-singular terminal sliding mode formation controller and the pre-set performance configuration reconstruction controller,the fixed-time global fast convergence,the dynamic and steady-state performance constraints of the aircraft formation system are realized.关键词
固定时间控制/多飞行器编队/非奇异终端滑模/预设性能控制/领航跟随法/分布式控制Key words
fixed-time control/muti-aircraft formation/non-singular terminal sliding mode/prescribed performance control/leader-follower/distributed control引用本文复制引用
张恒懋,丁一波,岳晓奎..基于领航跟随法的飞行器固定时间与预设性能分布式编队控制[J].航空科学技术,2025,36(3):1-9,9.基金项目
国家自然科学基金(12372048,12102343,U2013206) （12372048,12102343,U2013206）
航空科学基金(2022Z004053001) （2022Z004053001）
中国博士后科学基金(2023M742835) （2023M742835）
陕西省科学技术协会青年人才托举计划项目(20220509) （20220509）
广东省基础与应用基础研究基金(2023A1515011421) （2023A1515011421）
中央高校基本科研业务费专项资金(D5000210833) National Natural Science Foundation of China(12372048,12102343,U2013206) （D5000210833）
Aeronautical Science Founda-tion of China(2022Z004053001) （2022Z004053001）
China Postdoctoral Science Foundation(2023M742835) （2023M742835）
Young Talent Fund of Association for Science and Technology in Shaanxi(20220509) （20220509）
Guangdong Basic and Applied Basic Research Foundation(2023A1515011421) （2023A1515011421）
Fundamental Research Funds for the Central Universities(D5000210833) （D5000210833）
