In order to improve the success rate of multi-UAVs missions, efficient multi-UAVs cruise, tracking and attack formations must be designed. This paper takes one of the expected cruise formations as an example, and an effective distributed cooperative formation control method is proposed for the multiple UAVs system subject to directed fixed topology and external disturbances. The objective is to design the formation's position, speed and heading angle such that the states of multi-UAVs system reach consensus. Firstly, an adaptive RBF (Radial Basis Function) neural network is designed to approximate the external disturbance of the system, and achieves a good fitting effect. Secondly, the synchronous coupling method is adopted to solve the problem that the states of the UAV and its neighbor UAVs cannot be synchronously matched. Finally, through simulations of five drones, we can see that the speed, height, heading angle of all UAVs can converge in a short time and maintain the assigned formation.
Mission Planning and Synchronous Coupling Formation Control Algorithm Design for Multiple UAVs
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 344 ; 3486-3496
2022-03-18
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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