基于动态逆的队形保持控制器设计

研究了无人机之间存在气动耦合的编队飞行系统模型。对模型运用时标分离原则将其划分为快变和慢变两个子系统,并且快变子系统的输出作为慢变子系统的输入参与控制。两个子系统分别用动态逆设计控制器,并在慢回路用干扰观测器补偿逆误差和模型的不确定性。通过仿真说明所设计的紧密队形保持动态逆控制器是非常有效的。

Design of close-formation controller for UAVs based on dynamic inversion control

We studied the formation flight model of the UAVs in the presence of the aerodynamic coupling.According to the time scale separation principle,the formation flight model is divided into two different subsystems,quick change subsystem and slow change subsystem.The output of the quick change subsystem is taken as the input of the slow change subsystem.Dynamic inversion control is used for controller design of the two subsystems. In the slow-change subsystem,the dynamic inversion error and model's uncertainty are compensated by disturbance observer.Simulation demonstrated that the proposed control method is feasible and very effective.