Research on collaborative trajectory control method based on incremental dynamic inversion
To solve the problem of formation maintenance and trajectory tracking of cooperative flight aircraft,this paper proposes a cooperative trajectory control method based on incremental dynamic inversion.Firstly,according to the principle of time scale separation,the aircraft track control law is designed by incremental dynamic inversion.Secondly,the nonlinear guidance method is used to complete the complex trajectory tracking control.Thirdly,based on the consistency theory,the lead-er-follower cooperative flight path control law of four aircrafts is designed.The leader uses L1 trajec-tory guidance to track the desired flight path,and followers use the cooperative control law based on the consistency protocol to transform the formation and track the leader.The simulation results show that the scheme can well accomplish the cooperative formation transformation and cooperative trajec-tory tracking control.
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