Multi-UAVs Formation Flight Control Based on Leader-Follower Pattern

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• 英文论文题名：Multi-UAVs Formation Flight Control Based on Leader-Follower Pattern
• 论文作者：Wen Yuan ; Qing Yang Chen ; Zhong Xi HOU ; Yue Li
• 英文论文作者：Wen Yuan ; Qing Yang Chen ; Zhong Xi HOU ; Yue Li ; College of Aerospace Science and Engineering ; National University of Defense Technology ; Department of Airborne Vehicle Engineering ; Naval Aeronautical and Astronautical University
• 年：2017
• 作者机构：College of Aerospace Science and Engineering,National University of Defense Technology;Department of Airborne Vehicle Engineering,Naval Aeronautical and Astronautical University;
• 英文论文关键词：Formation Flight ; Leader-Follower Pattern ; Guidance Point Calculation ; Speed Adjustment ; Flight Experiment
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（A）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
• 语种：英文
• 分类号：V249.1;V279
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：651k
• 原文格式：D
• 会议级别：全国

摘要

As a core concept in the development of Unmanned Aerial Vehicles(UAVs) co-operation, formation flight is attracting more and more attention recently. To realize formation flight of fixed-wing vehicles, a geometric formation flight control method based on real-time guidance point computation is proposed in the paper. The control method is within the leader-follower pattern. Through the feed forward of the guidance point, the formation is guaranteed to converge quickly and keep effectively. What's more, based on the control method, a speed adjustment method is proposed, to make the formation keep accurately. Finally, based on the researched autopilot and three small fixed-wing vehicles, rectangle, circular and triangle formation flight experiments are carried out. Through the experiments, the feasibility of the formation control method and effectiveness of the speed adjustment method during formation keeping and transforming processes are verified in the paper.
As a core concept in the development of Unmanned Aerial Vehicles(UAVs) co-operation, formation flight is attracting more and more attention recently. To realize formation flight of fixed-wing vehicles, a geometric formation flight control method based on real-time guidance point computation is proposed in the paper. The control method is within the leader-follower pattern. Through the feed forward of the guidance point, the formation is guaranteed to converge quickly and keep effectively. What's more, based on the control method, a speed adjustment method is proposed, to make the formation keep accurately. Finally, based on the researched autopilot and three small fixed-wing vehicles, rectangle, circular and triangle formation flight experiments are carried out. Through the experiments, the feasibility of the formation control method and effectiveness of the speed adjustment method during formation keeping and transforming processes are verified in the paper.

引文

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