CN113741548A - Nonlinear cooperative guidance method and device for formation of unmanned aerial vehicles and storage medium - Google Patents
Nonlinear cooperative guidance method and device for formation of unmanned aerial vehicles and storage medium Download PDFInfo
- Publication number
- CN113741548A CN113741548A CN202111218273.XA CN202111218273A CN113741548A CN 113741548 A CN113741548 A CN 113741548A CN 202111218273 A CN202111218273 A CN 202111218273A CN 113741548 A CN113741548 A CN 113741548A
- Authority
- CN
- China
- Prior art keywords
- sight line
- unmanned aerial
- cooperative guidance
- aerial vehicle
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000000126 substance Substances 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 description 11
- 238000004891 communication Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a nonlinear collaborative guidance method, a nonlinear collaborative guidance device and a storage medium for unmanned aerial vehicle formation, wherein the method comprises the following steps: calculating a target observation estimated value by using a finite time disturbance observer; calculating a sight line normal parameter by using a sight line normal cooperative guidance law and calculating a sight line tangential parameter by using a sight line tangential cooperative guidance law based on the observation estimated value; and generating an unmanned aerial vehicle overload instruction based on the sight line normal parameter, the sight line tangential parameter and the relative motion parameter between the unmanned aerial vehicle formation and the target. According to the method, unknown maneuvering of the target is observed through the finite time disturbance observer, guidance laws in the sight line direction and the sight line normal direction are respectively designed based on the finite time consistency theory, and the collision time constraint and the aiming angle constraint are considered at the same time. In addition, through nonlinear stability analysis, numerical singularities caused by feedback linearization are avoided.
Description
Technical Field
The invention belongs to the technical field of aircraft control, and particularly relates to a nonlinear collaborative guidance method and device for formation of unmanned aerial vehicles.
Background
Cooperative guidance has received great attention over the past decade because of its effectiveness in improving defense penetration rates and maneuvering target interception. A plurality of unmanned aerial vehicles with good cooperation can attack the target through a plurality of directions simultaneously, and efficiency can be obviously improved. In addition, cooperative interception is carried out on the maneuvering target, a multi-directional surrounding situation can be formed on the target, and the target escape cost is obviously improved.
The cooperative guidance law can be functionally divided into an impact angle cooperation and an impact time cooperation. In the initial research, information exchange between cooperative unmanned aerial vehicles is not considered, cooperative attack is realized by presetting a hit angle and a hit time, and the limitation is that it is difficult to set reasonable preset values, and if the hit time and the hit angle are not designed reasonably, energy consumption is increased, and even guidance failure is caused.
At present, research is mainly focused on the cooperative guidance aspect, residual flight time and an impact angle are used as coordination variables, and a distributed cooperative guidance law is established by utilizing local communication based on a consistency theory. However, the existing maneuvering target cooperative guidance has the following problems:
(1) a target maneuver estimation problem; part of the research results need to know the acceleration of the target, and the acceleration is difficult to accurately obtain in engineering practice. Or some studies assume that the target acceleration is constant or slowly varying, which is not true in most cases.
(2) The problem that a cooperative guidance law needs overlarge tangential acceleration instruction; part of research adopts a feedback linearization method, however, the method can cause the tangential angular velocity instruction of the guidance terminal to be singular. In addition, partial research requires that the unmanned aerial vehicle-target distance and the distance change rate are consistent, so that greater energy consumption is brought.
Disclosure of Invention
According to the 1 st aspect of the invention, an unmanned aerial vehicle formation cooperative guidance method is disclosed, which comprises the following steps:
calculating a target observation estimated value by using a finite time disturbance observer;
calculating a sight line normal parameter by using a sight line normal cooperative guidance law and calculating a sight line tangential parameter by using a sight line tangential cooperative guidance law based on the observation estimated value; and
and generating an unmanned aerial vehicle overload instruction based on the sight line normal parameter, the sight line tangential parameter and the relative motion parameter between the unmanned aerial vehicle formation and the target.
According to the 2 nd aspect of the invention, an unmanned aerial vehicle formation cooperative guiding device is disclosed, comprising:
the storage unit is used for storing the cooperative guidance model and the cooperative guidance law; the cooperative guidance law comprises a sight line normal cooperative guidance law and a sight line tangential cooperative guidance law;
the acquisition unit is used for acquiring a geometric relationship between the formation of the unmanned aerial vehicles and the target, wherein the geometric relationship is represented by relative motion parameters between the formation of the unmanned aerial vehicles and the target;
the finite time interference observer is used for calculating a target observation estimated value;
the computing unit is used for computing a sight line normal parameter by utilizing a sight line normal cooperative guidance law and computing a sight line tangential parameter by utilizing a sight line tangential cooperative guidance law on the basis of the observation estimated value;
and the command generation unit is used for generating an unmanned aerial vehicle overload command based on the sight line normal parameter, the sight line tangential parameter and the relative motion parameter between the unmanned aerial vehicle formation and the target.
In some examples, the finite time disturbance observer is:
wherein the content of the first and second substances,
are respectively wri,wqiIs determined by the estimated value of (c),
VTrepresenting the axial velocity, η, of the targetTiRepresenting the lead angle, theta, of the targetTWhich represents the angle of the flight trajectory of the target,
respectively, the observation errors of the observer.
According to the 3 rd aspect of the present invention, there is also disclosed an electronic apparatus comprising: a processor, a memory, and a program stored on the memory and executable on the processor, the program when executed by the processor implementing the drone formation cooperative guidance method.
According to the 4 th aspect of the present invention, a non-transitory readable storage medium stores thereon a program, which when executed by a processor, implements the drone formation cooperative guidance method.
Compared with the prior art, the method provided by the invention observes the unknown maneuvering of the target by the finite time disturbance observer, respectively designs guidance laws along the sight line direction and the sight line normal direction based on the finite time consistency theory, and simultaneously considers the collision time constraint and the aiming angle constraint. In addition, through nonlinear stability analysis, numerical singularities caused by feedback linearization are avoided.
Drawings
Fig. 1 is a schematic view of a geometric relationship between formation of unmanned aerial vehicles and a target in a cooperative guidance process;
fig. 2 is a schematic flow chart of a method for formation cooperative guidance of unmanned aerial vehicles according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a formation cooperative guidance device for unmanned aerial vehicles according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the invention;
fig. 5 is a communication topology for formation of drones.
Detailed Description
Hereinafter, the method and the device for nonlinear collaborative guidance of an unmanned aerial vehicle according to the present invention will be described in detail with reference to the accompanying drawings and embodiments, but the present invention is not limited to these embodiments.
According to one aspect of the invention, the invention discloses a coordinated guidance method for formation of unmanned aerial vehicles, which is used for carrying out coordinated control on formation of unmanned aerial vehicles comprising at least two unmanned aerial vehicles and intercepting or attacking an invading maneuvering target. Fig. 5 shows an example of a formation communication topology including 4 drones M1-M4, in which the formation employs a closed-loop series configuration. However, those skilled in the art will appreciate that the grouping of drones may take other forms to establish a communications network structure.
Fig. 1 is a schematic diagram of the geometric relationship between the formation of drones (only schematically shown) and targets in the cooperative guidance process. In the figure, mi(i ∈ {1, 2.,. N }) represents the ith drone, θiRepresenting the flight path angle, etaiDenotes its lead angle, qiShows the angle of view, ViRepresenting its axial velocity, nyi,nxiRespectively adjusting the speed direction and the magnitude of the acceleration of the unmanned aerial vehicle under the speed coordinate system;
t represents a target, VTRepresenting the axial velocity, η, of the targetTiRepresenting the lead angle of the target;
rirepresent unmanned plane miThe distance from the target T.
Thus, the geometric relationship of the drone to the target may be represented by the above-mentioned relative motion parameters.
FIG. 2 is a schematic flow chart according to an embodiment of the present invention. As shown, the method comprises the following steps:
step 201, constructing a cooperative guidance model based on a geometric relation between unmanned aerial vehicle formation and a target;
in the invention, based on the relative motion parameters between the unmanned aerial vehicle formation and the target, the following cooperative guidance model is established in advance and stored. The cooperative guidance model is as follows:
and (3) solving a second derivative of the distance between the unmanned aerial vehicle and the target to obtain:
recording:
wherein, wriInterference of target maneuver on change rate of distance between unmanned aerial vehicle and targetriThe component of the acceleration of the unmanned aerial vehicle in the direction of the connecting line between the unmanned aerial vehicle and the target is shown.
This makes it possible to obtain:
and (3) solving a second derivative of the view angle to obtain:
recording:
wherein, wqiInterference of target maneuver on the rate of change of the view angle of the unmanned aerial vehicle, uqiThe component of the acceleration of the unmanned aerial vehicle in the normal direction of the unmanned aerial vehicle and the target connecting line is adopted.
This makes it possible to obtain:
step 202, calculating a target observation estimated value by using a finite time disturbance observer;
in the invention, a finite time disturbance observer is constructed in advance and stored. The finite time disturbance observer is:
wherein the content of the first and second substances,
w in the above formulas (5) and (9), respectivelyri,wqiIs determined by the estimated value of (c),
for the observation error of the observer:
wherein, tgoiThe calculation method for the remaining aircraft time is as follows:
if the parameters in the finite time disturbance observer satisfy alpha > 0, beta > 0, q > p > 0, and the unknown disturbance satisfies
The disturbance observation error can converge within a limited time.
Step 203, based on the observation estimated value, calculating a sight line normal parameter by using a sight line normal cooperative guidance law and calculating a sight line tangential parameter by using a sight line tangential cooperative guidance law;
in the invention, a sight line normal cooperative guidance law meeting the aiming angle constraint condition and a sight line tangential cooperative guidance law meeting the collision time constraint are constructed in advance and stored.
The sighting angle constraint conditions of the sight line normal cooperation are as follows:
wherein, ci,cjThe constant is preset and is used for adjusting the hit angle interval of each unmanned aerial vehicle.
Order to
The sight-line normal cooperative guidance law is as follows:
wherein the content of the first and second substances,
is the output of the finite time disturbance observer (10).
If the parameters in the sight-line normal cooperative guidance law (13) satisfy k1＞0,k2＞0,0＜α1＜1,
The unmanned aerial vehicle formation can realize the collision angle coordination condition (12) in a directed topology condition within a limited time.
The constraint conditions of the collision time of the sight line tangential collaboration are as follows:
the sight line tangential guidance law is as follows:
wherein the content of the first and second substances,
is the output of the finite time disturbance observer (10).
When the parameters in the sight line tangential guidance law (15) satisfy k3＞0,0＜α3When the time is less than 1, the unmanned aerial vehicle formation can realize simultaneous hit constraint in limited time under the condition of directed topology (1)4)。
Based on the observed estimate
Calculating a sight line normal parameter u by using a sight line normal collaborative guidance lawqiCalculating the sight line tangential parameter u by using the sight line tangential cooperative guidance lawri。
Aiming at the observer and the guidance law parameters, the invention obtains the asymptotic stable condition of the system by utilizing the Lyapunov method. Meanwhile, the finite time stability of the guidance law can be proved by using a homogeneous system stability theory, and the specific process is not repeated.
Step 204, generating an unmanned aerial vehicle overload instruction based on the sight line normal parameter, the sight line tangential parameter and the relative motion parameter between the unmanned aerial vehicle formation and the target;
based on the guidance law, calculating an unmanned aerial vehicle overload instruction according to relative motion parameters between the unmanned aerial vehicle formation and the target, wherein the method comprises the following steps:
wherein n isxiRepresenting the magnitude of acceleration for an unmanned aerial vehicle tangential overload instruction; n isyiAnd indicating the direction of the acceleration for the normal overload instruction direction of the unmanned aerial vehicle.
According to the method, unknown maneuvering of the target is observed through the finite time disturbance observer, and guidance laws in the sight line direction and the sight line normal direction are respectively designed based on the finite time consistency theory, wherein the guidance laws simultaneously consider collision time constraint and aiming angle constraint. In addition, through nonlinear stability analysis, numerical singularities caused by feedback linearization are avoided.
The cooperative guidance law provided by the invention is not only suitable for a static target, but also suitable for a maneuvering target, and does not require constant or slow change of the acceleration of the target.
In order to solve the problem of singularity of the guidance method, the guidance model is linearized, and the stability of the nonlinear closed-loop model is directly analyzed.
The guiding method provided by the invention only needs neighborhood information, has good stability and can be applied to directed communication topology.
The simulation is performed by taking the unmanned aerial vehicle marshalling shown in fig. 5 as an example, and the marshalling comprises 4 unmanned aerial vehicles for intercepting maneuvering targets. Wherein the target speed is set to 300m/s and the normal acceleration is set to 20cos (0.2t) m/s2Position (12000m,0m), initial heading angle 0 °.
For a finite time disturbance observer, the parameters are set to α ═ 1, β ═ 1, p ═ 1, q ═ 2, and w1＝w2＝10。
The sight-line normal guidance law parameters are set as follows: k is a radical of1＝0.5,k2＝0.08,α1＝0.5,α20.667. The sight line tangential guidance law parameters are as follows: k is a radical of3＝2,α3＝0.5。
Analysis results show that 4 unmanned aerial vehicles attack maneuvering targets simultaneously. The remaining flight times of 4 drones at time 0 are different, and reach the same value after about 10 seconds in the case of using the limited-time cooperative guidance law (14) of the present invention. Under the hit angle cooperative guidance law (14), the line of sight angles converge to a desired sequence after a period of time.
According to another aspect of the present invention, a coordinated guidance device for formation of unmanned aerial vehicles is disclosed, as shown in fig. 3, the device includes:
a storage unit 301, configured to store a cooperative guidance model and a cooperative guidance law; the cooperative guidance law comprises a sight line normal cooperative guidance law and a sight line tangential cooperative guidance law, wherein the sight line normal cooperative guidance law meets aiming angle constraint conditions, and the sight line tangential cooperative guidance law meets collision time constraint;
an obtaining unit 302, configured to obtain a geometric relationship between the formation of unmanned aerial vehicles and the target, where the geometric relationship is represented by a relative motion parameter between the formation of unmanned aerial vehicles and the target;
the finite time disturbance observer 303 is used for calculating a target observation estimation value;
a calculating unit 304, configured to calculate, based on the observation estimated value, a gaze normal parameter by using a gaze normal cooperative guidance law and a gaze tangential parameter by using a gaze tangential cooperative guidance law;
and an instruction generating unit 305, which generates the unmanned aerial vehicle overload instruction based on the sight line normal parameter, the sight line tangential parameter and the relative motion parameter between the unmanned aerial vehicle formation and the target.
The above units may exchange data via an interface or a bus, for example.
In addition, the present invention also discloses an electronic device, as shown in fig. 4, including: a processor 401, a memory 402 and a program stored on and executable on the memory, which when executed by the processor implements the drone formation cooperative guidance method.
In addition, the invention also discloses a non-transitory readable storage medium, wherein the readable storage medium stores a program, and the program realizes the unmanned aerial vehicle formation cooperative guidance method when being executed by a processor.
The memory 402 or non-transitory readable storage medium further stores a cooperative guidance model and a cooperative guidance law; the cooperative guidance law comprises a sight line normal cooperative guidance law and a sight line tangential cooperative guidance law, the sight line normal cooperative guidance law meets aiming angle constraint conditions, and the sight line tangential cooperative guidance law meets collision time constraint.
It should be understood that the processor mentioned in the embodiments of the present invention may be implemented by hardware or may be implemented by software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, or the like. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.
The processor may be, for example, a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be appreciated that the memory referred to in embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
It should be noted that the memory described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. An unmanned aerial vehicle formation cooperative guidance method is characterized by comprising the following steps:
calculating a target observation estimated value by using a finite time disturbance observer;
calculating a sight line normal parameter by using a sight line normal cooperative guidance law and calculating a sight line tangential parameter by using a sight line tangential cooperative guidance law based on the observation estimated value; and
and generating an unmanned aerial vehicle overload instruction based on the sight line normal parameter, the sight line tangential parameter and the relative motion parameter between the unmanned aerial vehicle formation and the target.
2. The unmanned aerial vehicle formation cooperative guidance method according to claim 1, wherein the finite time disturbance observer is:
wherein the content of the first and second substances,
are respectively wri,wqiIs determined by the estimated value of (c),
VTrepresenting the axial velocity, η, of the targetTiRepresenting the lead angle, theta, of the targetTWhich represents the angle of the flight trajectory of the target,
respectively, the observation errors of the observer.
3. The unmanned aerial vehicle formation cooperative guidance method of claim 1, wherein the line-of-sight normal cooperative guidance law satisfies an aiming angle constraint condition, and the line-of-sight tangential cooperative guidance law satisfies a collision time constraint.
4. The unmanned aerial vehicle formation cooperative guidance method according to claim 3, wherein aiming angle constraints are as follows:
wherein, ci,cjThe constant is a preset constant and is used for adjusting the hit angle interval of each unmanned aerial vehicle;
the sight line normal cooperative guidance law is as follows:
wherein the content of the first and second substances,
qiindicates the ith unmanned plane line-of-sight angle。
5. The unmanned aerial vehicle formation cooperative guidance method according to claim 3, wherein the collision time constraint condition is:
the sight line tangential guidance law is as follows:
wherein the content of the first and second substances,
is the output of the finite time disturbance observer (10).
6. An unmanned aerial vehicle formation cooperative guiding device, comprising:
the storage unit is used for storing the cooperative guidance model and the cooperative guidance law; the cooperative guidance law comprises a sight line normal cooperative guidance law and a sight line tangential cooperative guidance law;
the acquisition unit is used for acquiring a geometric relationship between the formation of the unmanned aerial vehicles and the target, wherein the geometric relationship is represented by relative motion parameters between the formation of the unmanned aerial vehicles and the target;
the finite time interference observer is used for calculating a target observation estimated value;
the computing unit is used for computing a sight line normal parameter by utilizing a sight line normal cooperative guidance law and computing a sight line tangential parameter by utilizing a sight line tangential cooperative guidance law on the basis of the observation estimated value;
and the command generation unit is used for generating an unmanned aerial vehicle overload command based on the sight line normal parameter, the sight line tangential parameter and the relative motion parameter between the unmanned aerial vehicle formation and the target.
7. The unmanned aerial vehicle formation cooperative guidance device of claim 6, wherein the line-of-sight normal cooperative guidance law satisfies an aiming angle constraint condition, and the line-of-sight tangential cooperative guidance law satisfies a collision time constraint.
8. An electronic device, comprising: a processor, a memory, and a program stored on the memory and executable on the processor, the program when executed by the processor implementing the drone formation cooperative guidance method of any of claims 1-5.
9. A non-transitory readable storage medium, wherein the readable storage medium stores thereon a program, which when executed by a processor, implements the drone formation cooperative guidance method according to any one of claims 1-5.
10. The electronic device of claim 8 or the non-transitory readable storage medium of claim 9, further storing a collaborative guidance model and a collaborative guidance law; the cooperative guidance law comprises a sight line normal cooperative guidance law and a sight line tangential cooperative guidance law, the sight line normal cooperative guidance law meets aiming angle constraint conditions, and the sight line tangential cooperative guidance law meets collision time constraint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111218273.XA CN113741548A (en) | 2021-10-20 | 2021-10-20 | Nonlinear cooperative guidance method and device for formation of unmanned aerial vehicles and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111218273.XA CN113741548A (en) | 2021-10-20 | 2021-10-20 | Nonlinear cooperative guidance method and device for formation of unmanned aerial vehicles and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113741548A true CN113741548A (en) | 2021-12-03 |
Family
ID=78726919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111218273.XA Pending CN113741548A (en) | 2021-10-20 | 2021-10-20 | Nonlinear cooperative guidance method and device for formation of unmanned aerial vehicles and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113741548A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115268503A (en) * | 2022-09-28 | 2022-11-01 | 中国人民解放军国防科技大学 | Multi-aircraft three-dimensional cooperative guidance method for removing singularity |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0273845A2 (en) * | 1986-12-29 | 1988-07-06 | DOMINGUEZ MONTES, Juan | Equipment and process for obtaining three-dimensional moving images, that is four-dimensional images in both colour and in black and white |
| US5281815A (en) * | 1992-03-03 | 1994-01-25 | Aai Corporation | Method of determining the humidity and temperature of atmospheric air |
| US6483454B1 (en) * | 2000-11-28 | 2002-11-19 | Bae Systems Aerospace Inc. | Close formation aircraft collision avoidance |
| CN107422748A (en) * | 2017-06-29 | 2017-12-01 | 南京航空航天大学 | A kind of fixed-wing unmanned plane formation guidance device and collaboration homing guidance method |
| CN107844127A (en) * | 2017-09-20 | 2018-03-27 | 北京飞小鹰科技有限责任公司 | Towards the formation flight device cooperative control method and control system of finite time |
| WO2019041874A1 (en) * | 2017-08-29 | 2019-03-07 | 深圳市道通智能航空技术有限公司 | Aerial vehicle control method and device |
| CN110162084A (en) * | 2018-10-11 | 2019-08-23 | 北京机电工程研究所 | Cruising missile group system formation control method based on congruity theory |
| CN111766899A (en) * | 2020-08-11 | 2020-10-13 | 北京航空航天大学 | Interference observer-based quad-rotor unmanned aerial vehicle cluster anti-interference formation control method |
| CN112129292A (en) * | 2020-09-02 | 2020-12-25 | 北京航空航天大学 | Heterogeneous aircraft cooperative guidance method considering attack time and attack angle constraints |
| KR20210012414A (en) * | 2019-07-25 | 2021-02-03 | 배재대학교 산학협력단 | System and method for controlling cluster flight of unmanned aerial vehicle |
-
2021
- 2021-10-20 CN CN202111218273.XA patent/CN113741548A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0273845A2 (en) * | 1986-12-29 | 1988-07-06 | DOMINGUEZ MONTES, Juan | Equipment and process for obtaining three-dimensional moving images, that is four-dimensional images in both colour and in black and white |
| US5281815A (en) * | 1992-03-03 | 1994-01-25 | Aai Corporation | Method of determining the humidity and temperature of atmospheric air |
| US6483454B1 (en) * | 2000-11-28 | 2002-11-19 | Bae Systems Aerospace Inc. | Close formation aircraft collision avoidance |
| CN107422748A (en) * | 2017-06-29 | 2017-12-01 | 南京航空航天大学 | A kind of fixed-wing unmanned plane formation guidance device and collaboration homing guidance method |
| WO2019041874A1 (en) * | 2017-08-29 | 2019-03-07 | 深圳市道通智能航空技术有限公司 | Aerial vehicle control method and device |
| CN107844127A (en) * | 2017-09-20 | 2018-03-27 | 北京飞小鹰科技有限责任公司 | Towards the formation flight device cooperative control method and control system of finite time |
| CN110162084A (en) * | 2018-10-11 | 2019-08-23 | 北京机电工程研究所 | Cruising missile group system formation control method based on congruity theory |
| KR20210012414A (en) * | 2019-07-25 | 2021-02-03 | 배재대학교 산학협력단 | System and method for controlling cluster flight of unmanned aerial vehicle |
| CN111766899A (en) * | 2020-08-11 | 2020-10-13 | 北京航空航天大学 | Interference observer-based quad-rotor unmanned aerial vehicle cluster anti-interference formation control method |
| CN112129292A (en) * | 2020-09-02 | 2020-12-25 | 北京航空航天大学 | Heterogeneous aircraft cooperative guidance method considering attack time and attack angle constraints |
Non-Patent Citations (6)
| Title |
|---|
| DONG XIAOFEI 等: "Distributed Finite-Time Cooperative Guidance Against a Moving Target: A Finite-Time Observer Approach", 《2021 IEEE INTERNATIONAL CONFERENCE ON UNMANNED SYSTEMS (ICUS)》, pages 1037 - 1044 * |
| YUE LI 等: "Distributed Finite-Time Cooperative Control for Quadrotor Formation", 《IEEE ACCESS》, pages 1 - 11 * |
| 董琦 等: "基于自适应有限时间干扰观测器的无人机集群 编队控制方法", 《中国科学》, vol. 50, no. 4, pages 423 - 438 * |
| 陈昶荣 等: "基于神经网络的飞行器协同编队控制研究", 《控制与信息技术》, no. 4, pages 29 - 38 * |
| 陈涛: "基于一致胜的多四旋翼无人机编队控制研究", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》, no. 4, pages 031 - 72 * |
| 韩亮 等: "多无人机协同控制方法及应用研究", 《导航定位与授时》, vol. 5, no. 4, pages 1 - 7 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115268503A (en) * | 2022-09-28 | 2022-11-01 | 中国人民解放军国防科技大学 | Multi-aircraft three-dimensional cooperative guidance method for removing singularity |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Chen et al. | Adaptive leader‐follower formation control of non‐holonomic mobile robots using active vision | |
| CN109375643B (en) | Multi-four-rotor-confrontation tracking target guidance law based on piloting-following type triangular formation | |
| Yan et al. | Coordinated target tracking strategy for multiple unmanned underwater vehicles with time delays | |
| Xue et al. | Formation flight control of multi-UAV system with communication constraints | |
| CN109901605A (en) | A kind of control method of quadrotor tracking unmanned water surface ship | |
| CN105425819A (en) | Guidance method for tracking ground target automatically by unmanned plane | |
| CN105549395B (en) | Ensure the mechanical arm servo-drive system dead time compensation control method of mapping | |
| CN108829123B (en) | Control method, system and device for four-rotor aircraft | |
| EP4068042A1 (en) | Recovery control method and apparatus for rocket, electronic device and storage medium | |
| CN113325866B (en) | Differential game cooperative guidance method based on event triggering | |
| CN111553239A (en) | Robot joint visual servo control method, terminal device and storage medium | |
| CN113741548A (en) | Nonlinear cooperative guidance method and device for formation of unmanned aerial vehicles and storage medium | |
| CN113268064A (en) | Multi-mobile-robot cooperative formation control method considering communication time delay | |
| Wang et al. | Adaptive fractional‐order nonsingular fast terminal sliding mode formation control of multiple quadrotor UAVs‐based distributed estimator | |
| CN110262484B (en) | Wheeled robot uniform-speed linear formation control method based on self-adaptive event triggering | |
| Wei et al. | Distributed guidance law design for multi-UAV multi-direction attack based on reducing surrounding area | |
| CN113625730B (en) | Four-rotor self-adaptive fault-tolerant control method based on ultra-torsion sliding mode | |
| CN112650217B (en) | Robot trajectory tracking strategy dynamic optimization method based on evaluation function | |
| CN109656258A (en) | A kind of small drone flying height and flight attitude decouple stabilized control method | |
| Wang et al. | Two-level hierarchical-interaction-based group formation control for MAV/UAVs | |
| CN114415723B (en) | Multi-aircraft collaborative capture space division method and device and electronic equipment | |
| Xu et al. | Optimal control of UAV elastic formation based on legendre pseudospectral method | |
| CN115407661A (en) | Multi-unmanned aerial vehicle system nonlinear robust tracking control method based on azimuth measurement information | |
| Xie et al. | An image-based decoupling controller of quadrotor for moving target tracking | |
| Zhu et al. | A Moving Frame Trajectory Tracking Method of a Flying‐Wing UAV Using the Differential Geometry |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |