Research On Multi-UVA Close Formation Cooperative Control And Visual Simulation

Multi-UAV(Unmanned Aerial Vehicle, UAV) close formation cooperative control has many advantages unmatched by a single UAV. It has extensive application perspective in military and civil fields, which has become a hot research field of UAV and received more and more extensive attention. This thesis studies the topic of multi-UAV close formation cooperative control. The main work is as follows:Firstly, the "leader- follower" formation mode is used, and the aerodynamic coupling effect of the lead aircraft wingtip vortices to the wingman in the close formation flight is analyzed. Then, in the influence of lead aircraft wingtip vortices, the change of drag, lift and lateral forces of wingman are derived.Secondly, the models of lead aircraft and wingman in close formation are built respectively. Then, according the aerodynamic coupling effect calculated above, the wingman model in close formation is modified, and the complete close formation flight model is obtained.Thirdly, the sliding mode variable structure control theory is introduced, and then a UAV close formation keeping controller is designed based on the input-output feedback linearization. Then the proposed controller is simulated in the MATLAB / SIMULINK simulation environment. The simulation results show that the UAV close formation keeping controller proposed in this thesis can well maintain close formation when facing the lead aircraft maneuvering(heading maneuvering, speed maneuvering and highly mobile, etc.).Finally, a visual flight simulation system based on Flight Gear is built, and the visual simulation of the UAV close formation keeping controller is conducted. The system comprehensively, intuitively and synthetically shows all kinds of integrated information of lead aircraft and wingman in close formation. Visual simulation results show that the close formation keeping controller designed above has high feasibility and good engineering application value.