Research On Adaptive Formation Control Method Of UAV Based On Vector Field

In recent years,UAV autonomous flight technology has been widely concerned by many scholars at home and abroad,and has many research achievements in industrial application and military field.Single UAV can no longer meet people’s demands for complex tasks due to its disadvantages of single task and low efficiency.Cooperative formation operation of multiple UAVs has gradually become a research hotspot due to its advantages of high efficiency and strong coordination.This dissertation designs the flight control system of fixed-wing UAV based on leader-follower formation control model,which can effectively reduce the communication load of UAV formation flight and realize formation flight on the simulation experiment platform.The details are as follows:In this dissertation,a new adaptive formation control method is proposed based on the adaptive control of a single UAV.The method is based on vector field path tracking.In this method,the main UAV can transmit its position and direction information with the following UAV,but cannot transmit speed information.This method can reduce the communication load of UAV formation.To compensate for the lack of speed information for the main UAV,each UAV is designed with a local estimation mechanism.The obtained method is an adaptive control method and its stability can be proved by Lyapunov stability method.It is also proved that the adaptive control method can be extended to a distributed communication mode in which the main UAV is replaced by several adjacent UAVs.In order to check the effectiveness of the method,a large number of simulation experiments are carried out in different formation T,Y and V,and the results show that the proposed adaptive control method can effectively realize the formation of the main UAV under the condition of unknown speed.The performance of the adaptive method is very similar to that of the ideal case where the main UAV speed is completely known,and it is superior to all non-adaptive cases when the following UAV speed is not correctly understood.