Cooperative Formation Control Technology For Manned/Unmanned Aerial Vehicles

Compared with manned aerial vehicles(MAVs),unmanned aerial vehicles(UAVs)possess many advantages.As a result,UAVs play an important role in the modern world.Moreover,UAV formations that include a number of UAVs can significantly improve the mission execution efficiency.What’s more,UAV formations are more likely able to complete missions which may be impossible to be completed by only one single UAV.However,due to the immatureness of UAVs’ intelligence,cooperative formation of manned and unmanned aerial vehicles is still the prior mode of operation in most military powers.This thesis focuses on the cooperative formation of manned and unmanned aerial vehicles,and the main contents are as follows:Firstly,based on a great amount of research material and data in this area,the mission separation in the formation of MAV and UAVs is analyzed.And the digital models of MAV and UAV are built.At the same time,the relative kinematics equations of the MAV/UAVs formation based on leader-follower mode are also built.All these work lays foundation for the later research on cooperative operation of MAV/UAVs formation.Secondly,new formation shapes are designed referring the operation experience of MAVs formation and considering the unique features of MAV/UAVs formation.And these formation shapes are encapsulated into a formation library with which the fleet can expand or adjust the formation flexibly according to real battle demands.Moreover,UAV’s maneuvers are designed and these maneuvers are also encapsulated into a maneuver library.Thirdly,the flight control system is designed for UAVs in order to enable them to fly stably following expected flight state.Furthermore,the management strategies of MAV/UAVs formation including formation building,formation keeping and formation transformation are analyzed based on the formation library and maneuver library.Finally,the cooperative formation operation process and cooperative mission executing strategies are analyzed based on the formation library.This research takes MAV and UAVs’ features and their mission separation into account for the mission management in uncertain environments.The result of this thesis is meaningful for both theoretical research and practical application of MAV/UAVs formation.