Cooperative formation control of multiple aerial vehicles based on guidance route in a complex task environment

Guibin SUN; Rui ZHOU; Kun XU; Zhi WENG; Yuhang ZHANG; Zhuoning DONG; Yingxun WANG

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Cooperative formation control of multiple aerial vehicles based on guidance route in a complex task environment

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摘要

In recent years,formation control of multi-agent has been a significant research subject in the field of cooperative control.However,previous works have mainly concentrated on formation control for simple point-mass model and linear model.In contrast,this paper presents a novel cooperative algorithm for multiple air vehicles formation control,which aims to devise a control strategy based on guidance route to achieve precisely coordinated formation control for a group of fixed-wing aircraft in a complex task environment.The proposed method introduces the leader-follower structure for effective organization of the multi-agent coordination.Moreover,the Partial Integrated Formation and Control(PIFC)is adopted to design the control law for Guidance-Route based Formation Control(GRFC).Additionally,the proposed approach designs two guidance-route generation strategies for two special situations to demonstrate the effectiveness of GRFC in complex task environments.Theoretical analysis reveals that the proposed control protocol for guidance command can ensure the overall stability and tracking accuracy of the system.Numerical simulations are performed to illustrate the theoretical results,and verify that the proposed approach can achieve coordinated formation control precisely in a complex task environment.

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《中国航空学报：英文版》 |2020年第2期|701-720|共20页
作者
Guibin SUN; Rui ZHOU; Kun XU; Zhi WENG; Yuhang ZHANG; Zhuoning DONG; Yingxun WANG;
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作者单位

School of Automation Science and Electrical Engineering;

Beihang University;

Beijing 100083;

China;

State Key Laboratory of Software Development Environment;

Beihang University;

Beijing 100083;

China;

College of Electronic Information Engineering;

Inner Mongolia University;

Hohhot 010021;

China;

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原文格式 PDF
正文语种 chi
中图分类飞行控制系统与导航;制导与控制;
关键词
Complex; task; environments; Cooperative; formation; control; Fixed-wing; aircraft; Guidance; route; Leader-follower; structure; Partial; integrated; formation; and; control;

Cooperative formation control of multiple aerial vehicles based on guidance route in a complex task environment

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