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无人机三维编队飞行的鲁棒H∞控制器设计

, PP. 1907-1911

Keywords: 无人机,编队飞行,队形保持,鲁棒控制

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Abstract:

针对无人机编队控制中模型不确定性与外干扰同时存在的情况,首先基于无人机自身的自动驾驶仪和编队运动学关系建立了无人机编队的三维数学模型,这种建模方式物理意义明晰;进而提出一种基于鲁棒??∞控制理论的编队控制器设计方法,按前向、侧向和垂直方向3个通道分别设计控制律,降低了鲁棒控制器的调参难度,简化了三维编队控制问题.仿真结果表明了所设计的控制器的有效性,可实现无碰撞、快速、稳定地保持和调整无人机编队队形,具有良好的鲁棒性能.

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