Study On The Cooperative Formation Control For Unmanned Aerial Vehicles And Unmanned Ground Vehicles

Cooperative formation of unmanned aerial vehicles(UAVs)and unmanned ground vehicles(UGVs)can effectively extend the scope of sensing and improve the precision of perception,such that it has wide application prospect in the civil and national defense construction.Therein,formation keeping and trajectory tracking which are required to maintaining the desired formation and track the desired trajectory,respectively,are the two important research issues of the cooperative formation control of UAV/UGV.Based on the above requirements,the dissertation focuses on the cooperative formation control question of a single UAV and a single UGV and that of multiple UAVs and multiple UGVs.By introducing the virtual leader and radial basis function(RBF)neural network,the formation keeping control algorithms and trajectory tracking control algorithms are designed,respectively.The research issues of the dissertation have important theoretical significance and reference application prospect for improving the control efficiency of the formation and promoting the intelligent development of unmanned vehicles.The main research work and contribution of the dissertation are summarized as follows:1)Considering the cooperative formation control problem of a single UAV and a single UGV and that of multiple UAVs and multiple UGVs,the cooperative formation system model is established based on the virtual leader,the formation keeping algorithms are designed for them both,and the stability of the corresponding control formation systems are proved by using the Lyapunov stability theory.2)Aiming at solving the trajectory tracking problem of the cooperative formation of a single UAV and a single UGV,a trajectory tracking control algorithm is designed by using the virtual leader and sliding mode variable structure control,and then the tracking control of the cooperative formation of a single UAV and a single UGV is achieved.Finally,the effectiveness of the trajectory tracking control algorithm is verified by simulation.3)Considering the trajectory tracking problem of the cooperative formation of multiple UAVs and multiple UGVs,the formation system model which recognizes the acceleration as the uniform control input is constructed.A trajectory tracking control algorithm is designed based on the RBF neural network,utilizing the sigmoid function and tanh function to adjust the network weights.Therefore,the cooperative formation of multiple UAVs and multiple UGVs can quickly reach the desired location.At last,the effectiveness of the algorithm is verified by simulation.