Key Researches On UAVs Formation Controller

Compared with single UAV, many UAVs cooperative formation flight improves no matter mission success rate or effectiveness significantly and broadens the application area of UAV. Since UAV has wide application area and the formation flight possesses many advantages, it makes this research about UAVs' formation flight now attracts more attention worldwide and becomes the trend of the UAV development. Based on the research background of UAVs formation flight task, this dissertation mainly analyzes the control laws of UAVs formation flight in different process and period.First of all, the agent consistency algorithms, which are the main control algorithms of this dissertation, are briefly introduced.Secondly, the assembly process of UAV formation is analyzed. Since the longitudinal and transverse lateral motion of decoupling, this dissertation does research on longitudinal and transverse lateral synchronization of assembly process respectively. Based on consistency algorithm, the control law is designed for the two direction motion. Meanwhile, according to the actual status and the constraints such as the performances of UAV, this article put forward three assembly strategies, and they have been applied in a delivered pre-research project.In this chapter, the synchronization control law design of the two directions that are longitudinal and transverse lateral during assembly process, and the selection method of the two direction collaborative variables are innovation points of this article, which obviously simply the entire design process. Nevertheless, this article discusses close proximity formation flight and formation switch process after assembly process. Some problems like loose formation flight and inconsistent speed in the assembly process are solved by close formation flight. After the formation becomes stable, changing the co-located variable can modify the flight movements of formation. In addition, for the sake of accurate control, this article designed a fuzzy PID coordination error processor to minimize the cooperative error. The coordination error processor introduced in this chapter optimizes the former processing mode, which ignored the process of the formation control of positioning and navigation error.Eventually, this dissertation designs lot of test cases respectively, doing simulation about assembly process and close proximity formation and formation switching process. The simulation result reveals that the designed control laws are feasible. It provides reference for engineering application.