无动力飞行器分布式有限时间编队跟踪控制
Distributed Finite-Time Formation Tracking Control of Unpowered Vehicles
生百世 1禹春梅 1王亮 1梁禄扬1
作者信息
- 1. 北京航天自动控制研究所,北京 100854
- 折叠
摘要
针对无动力飞行器再入过程中的编队控制问题,基于虚拟领导者的二阶系统一致性控制理论,优化了协调变量并引入过渡环节,提出了一种集结时间可调的分布式编队保持与切换控制算法.该算法结合飞行能力和编队任务需求,允许无动力飞行器的高程在一定范围内变化,在线实现对多无动力飞行器相对横程和相对纵程的精确控制.仿真结果表明,该算法在编队形成与保持、编队构型切换和编队横向规避场景下,均可实现对期望编队构型的精确控制,并且仿真过程还加入了地球曲率和自转效应对再入动力学的影响.算法同时能够适应偏差随机的气动系数和大气密度的组合拉偏,具有良好的鲁棒性.
Abstract
A method aiming at the formation control problem during the reentry of multi-unpowered vehicles is discussed in this paper.Based on second-order system consistency theory of virtual leader,a distributed formation keeping and control algorithm switching of adjustable assembly time is proposed by selecting opti-mal coordination variables and introducing a special transition link.The altitude of multi-vehicles are al-lowed to be changed in a certain range by using this proposed solution that considers the flight ability under the restraint of multi-vehicles formation mission and then realizes the accurate online control of the relative transverse and longitudinal range.Simulation results show that the proposed algorithm can achieve the de-sired control effect in scenarios of formation assembly and keeping,formation configuration switching and formation lateral maneuver.The algorithm takes into account the effects of the earth's curvature and rota-tion on the reentry dynamics,and can adapt to random aerodynamic coefficients and atmosphere density pulling by good robustness.
关键词
无动力飞行器/编队保持/构型切换/一致性跟踪控制Key words
Unpowered vehicle/Formation keeping/Configuration switching/Consistency tracking con-trol引用本文复制引用
出版年
2024
NETL
NSTL
万方数据