收稿日期: 2011-06-21
修回日期: 2012-02-24
网络出版日期: 2012-09-25
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
Received date: 2011-06-21
Revised date: 2012-02-24
Online published: 2012-09-25
李雪松1， 李颖晖1， 李霞2， 李朝旭1， 郭创1 . 无人机鲁棒反推自适应编队导引控制设计[J]. 应用科学学报, 2012 , 30(5) : 552 -558 . DOI: 10.3969/j.issn.0255-8297.2012.05.018
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.
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