应用科学学报 ›› 2012, Vol. 30 ›› Issue (5): 552-558.doi: 10.3969/j.issn.0255-8297.2012.05.018

• 控制与系统 • 上一篇    

无人机鲁棒反推自适应编队导引控制设计

李雪松1, 李颖晖1, 李霞2, 李朝旭1, 郭创1   

  1. 1. 空军工程大学工程学院,西安710038
    2. 中国人民解放军94370 部队,济南250023
  • 收稿日期:2011-06-21 修回日期:2012-02-24 出版日期:2012-09-24 发布日期:2012-09-25
  • 通信作者: 李雪松,博士生,研究方向:先进控制理论与无人机编队控制,E-mail:Lixuesongdoc@163.com; E-mail:Lixuesongdoc@163.com
  • 作者简介:李雪松,博士生,研究方向:先进控制理论与无人机编队控制,E-mail:Lixuesongdoc@163.com;李颖晖,教授,博导,研究方向:非线性控制理论,E-mail:liyinghui66@163.com
  • 基金资助:

    国家自然科学基金(No.61074007);空军工程大学研究生创新基金;航空科学基金(No.2010818017)资助

Robust Adaptive Backstepping Design for Unmanned Aerial Vehicle Formation Guidance and Control

LI Xue-song1, LI Ying-hui1, LI Xia2, LI Chao-xu1, GUO Chuang1   

  1. 1. Engineering College, Air Force Engineering University, Xi’an 710038, China
    2. Unit 94370 of the PLA, Jinan 250023, China
  • Received:2011-06-21 Revised:2012-02-24 Online:2012-09-24 Published:2012-09-25

摘要:

针对一般不确定系统研究了一种鲁棒反推自适应控制方法,采用自适应神经网络对未建模动态进行补偿,并利用Lyapunov 理论证明了跟踪误差的有界性. 分析了长机–僚机编队方式下的无人机编队导引控制策略,采用鲁棒反推自适应控制与动态逆方法对无人机编队飞行综合导引控制律进行设计. 进行了六自由度非线性仿真,表明所设计的编队导引控制器能使僚机对不确定机动的长机进行跟踪,并具有很好的鲁棒性.

关键词: 无人机编队, 综合导引控制, 鲁棒反推自适应, 自适应神经网络, 不确定机动

Abstract:

 A robust adaptive backstepping method is proposed for a generic uncertain system, and its application to integrated guidance and control for unmanned aerial vehicle (UAV) formation flight studied. The unmodeled dynamics are compensated by an adaptive neural network. Boundedness of tracking errors is proved by the Lyapunov theory. The leader-follower formation flight guide and control strategy is introduced. An integrated guidance and control law of the UAV formation flight is designed based on the adaptive backstepping and dynamic inversion. A six-degree-of-freedom nonlinear simulation shows that the follower can robustly track the leader with uncertain maneuvering.

Key words: unmanned aerial vehicle (UAV) formation flight, integrated guidance and control, robust adaptive backstepping, adaptive neural network, uncertain maneuvering

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