Research On Elastic Formation Control Of Unmanned Aerial Vehicle Adapting To Flight Speed

With the development of the UAV(Unmanned Aerial Vehicle)technology,the UAV plays an important role in many fields of human social production and living.Compared with the single UAV,UAV formation has more search and reconnaissance range,higher work efficiency,stronger system survivability and environmental adaptability,which will make it possible to make up for the deficiency of single UAV in military and civil field.Therefore,the UAV formation has extensive application value,which is gained more and more attentions by the scientists all over the world.In order to form the comprehensive ability of UAV formation,the UAV formation needs to have more autonomy and collaborative cooperation.Most important,UAV formation has good formation control technology.In this paper,for an UAV formation in“leader-follower"mode,a concept of elastic distance vector is proposed.According to the elastic distance vector,the mathematical model of UAV formation flight is linearized skillfully.A new UAV formation model is obtained,which has distinct physical meaning and simple form.In this paper,introducing some simplification and symmetry of feedback gain for the mathematical model of UAV formation flight established,two kinds of controller of elastic formation adapting to flight speed is designed.One is based on overlapping the information between UAV to keep the formation;the other only uses the information of the vehicle speed and the relative potion measured by on-board sensors,and does not requires exchanging information with other vehicles,such that the distributed control is realized.Simulation results show that controller can keep formation effectively and the relative distance between neighbor vehicles is changed as the change of formation flight speed.The formation has some elastic characteristics which is adapting to flight speed.Through adjusting some parameters,the formation can be switched.