Research On Coordinated Flight Control Of UCAV Based On Multi-Agent

For the advantage of UCAV (Uninhabited Combat Air Vehicle) that it does not have attricist and its super-maneuverability, many countries focus on the resesrch of UCAV. Coordinated attack is an important factor in war. How to achieve coordinated control for the UCAVs is a challenge in the modern control area.In this dissertation, coordinated flight control is studied in the environment of multi-agents. It constructs a coordinated flight control system through the thought of multi-agents. And it is devoted to discussing the problem of path planning and coordinated path planning, super-maneuverable flight control and coordinated flight control.First of all, a discussion is devoted to studying the sort and characteristic of agent and multi-agents system as well as the system structure and principle of its hybrid architecture intelligent autonomous mission controller. And then a scheme is proposed when the communication time is delay.Then, the three-dimensional real-time path planning of UCAVs is proposed based on ant colony algorithm. To the complexity and computational burden of the cooperative path planning problem, a distributed hierarchical strategy is proposed which is based on the notion of coordination variables and coordination functions. This strategy reduces the dimensionality and complexity of the problem to tractable levels. In addition, this strategy is general and can be applied to the other cooperative control problem.Following, a flight control system is designed in analytical dynamical inversion method based on the time-scale separation principle.The disturbance observer is introduced to eliminate the inversion error which resulted from the inaccurate UCAV's model and external disturbance. Then an RBF neural network replaces the disturbance observer, which is used to overcome the disadvantage of the disturbance observer that requires the disturb changes slowly.And then, a discussion is devoted to studying the coordinated control system in the environment of multi-agents. A formation keeping controller is designed in analytical dynamical inversion method based on the disturbance observer. Then a robust flight control system, which is based on the idea of orthogonal transformation, is designed to improve the performance. And then optimizes the coordination system as a whole. The performance index such as control performance and communication cost etc.is transformed into an oriented graph, so the optimization problem is transformed into a shortest path problem. The reconfiguration maps are introduced to formation flight oriented graph for avoiding various faults during executing the mission.Finally, a discussion is devoted to studying 3D animation simulation of formation flying based on Creator and Vega. And the validity of the law of coordinated flight control and the algorithm are proved.