| 基于CMAC的无人机紧密编队飞行控制研究 |
| |
| 引用本文： | 刘成功,杨忠,樊琼剑.基于CMAC的无人机紧密编队飞行控制研究[J].传感器与微系统,2009,28(7):37-40. |
| |
| 作者姓名： | 刘成功 杨忠 樊琼剑 |
| |
| 作者单位： | 1. 南京航空航天大学,自动化学院,江苏,南京,210016
2. 南京航空航天大学,自动化学院,江苏,南京,210016;空军航空大学,航空控制工程系,吉林,长春,130022 |
| |
| 基金项目： | 国家自然科学基金资助项目 |
| |
| 摘 要： | 针对多无人机紧密编队飞行控制系统，提出一种基于小脑模型神经网络的编队飞行队形保持控制器。该控制器以飞行控制系统横向、纵向及垂直方向通道的动态误差作为小脑模型关节控制器（CMAC）的激励信号，并与常规的PID控制器相结合构成系统的复合控制。仿真结果表明：该控制器能够控制无人机编队，在定常运动和机动过程中都可以保持期望队形，且这种控制方法具有超调量较小，鲁棒性强，响应速度快，抗干扰能力强等优点。
|
| 关 键 词： | 编队飞行 队形保持与跟随 小脑模型关节控制器 |
Research on multi-UAVs close formation flight control based on CMAC |
| |
| LIU Cheng-gong,YANG Zhong,FAN Qiong-jian.Research on multi-UAVs close formation flight control based on CMAC[J].Transducer and Microsystem Technology,2009,28(7):37-40. |
| |
| Authors: | LIU Cheng-gong YANG Zhong FAN Qiong-jian |
| |
| Affiliation: | LIU Cheng-gong, YANG Zhong, FAN Qiong-jian(1. College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. Department of Aviation Control, Aviation University of Air Force, Changchun 130022, China) |
| |
| Abstract: | A formation keeping controller based on CMAC is presented for multi-UAVs close formation flight
control system. The controller combines the CMAC with PID controller and takes the dynamic errors from lateral,
longitudinal and vertical channels as input signals to the CMAC neural network. Simulation results show that under
both constant speed situations and maneuvering situations, the UAV formation with the designed controller
converges to its desired formation and is of small overshoot, high robustness, fast response and strong anti-jamming
capability. |
| |
| Keywords: | formation flight formation keeping and following cerebellr model articulation controller(CMAC) |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
