UAV Flight Control Design And Cooperative Ground Moving Target Engagement Study

UAV cooperative control is one of the key technologies for autonomouscontrol. Despite the research on cooperative control keeping heating up, some keyissues remain to be solved. One problem is the disconnection between taskassignment and low-level control. In this paper, Cooperative Ground Moving TargetEngagement (CGMTE) Scenario is studied. First, build the UAV and low-levelcontrol system model. Secondly, using cooperative control Lyapunov function(CCLF) to combine path planning and feedback control. According to the givenconstraints, forming the target tracking path, and giving turn rate control instructionto low-level control system，also providing a metric of the team’s performanceuseful for higher level assignment algorithms. In the end, by simulation of CGMTEproblem, confirm the feasibility of the algorithm, and give recommendations forimprovement.