现代防御技术2025，Vol.53Issue(3)：112-119,8.DOI:10.3969/j.issn.1009-086x.2025.03.013
基于状态观测器的无人机群编队操纵控制
State Observer-Based Formation Maneuvering Control of Unmanned Aircraft Swarms
摘要
Abstract
We address the problem of formation maneuvering control of unmanned aircraft swarm systems with leader-follower structure,and design distributed formation controllers based on bearing information,so as to realize the translation and rotation maneuver control of unmanned aircraft swarms.To overcome the limitations of existing formation control methods based on bearing information when handling time-varying bearing formation,we design a state observer.This observer estimates the desired positions and velocities of the UAVs using relative bearing information from neighboring UAVs and the position and velocity information of the leader.A backstepping controller is designed based on the desired velocities to achieve the maneuver control of the formation system.The estimation error of the observer and the stability of the controller are proven using the Lyapunov method.The effectiveness of the proposed control method is validated through simulations involving translation and rotation maneuvers.关键词
相对方向/编队控制/无人机群/操纵控制/反演控制Key words
relative bearing/formation control/UAVs/maneuver control/backstepping controls分类
航空航天引用本文复制引用
吴蜜,陈先桥,沈卫文..基于状态观测器的无人机群编队操纵控制[J].现代防御技术,2025,53(3):112-119,8.基金项目
国家自然科学基金(62001337) （62001337）
湖北省教育科学规划课题(2021GB171) （2021GB171）
