Design of formation flight control based on virtual body frame of the team formation
In this paper,novel concepts of virtual body frame and body attitude of the team formation are proposed.A corroding to this definition,a nonlinear control algorithm is designed for the formation unmanned aerial vehicles (UAVs) in three dimensions.Based on the novel error formulation of follower and leader vehicles in the inertial frame,control command is developed for the follower vehicles velocity,yaw angle and pitching angle.The simulation on the control system of equilateral triangle formation flight presents that the algorithm is fast and accurate to realize the tracking control command without collision.Further more,it can give an intuitive observation and description of the formation planes adjustment in the inertial frame compared with the traditional methods;such demonstrates the correctness and effectiveness of the design.
formation flight control autopilot aerial vehicle
Xiaoping Shi Jing Yang
Control and Simulation Center, Harbin Institute of Technology, Harbin 150001, China
国际会议
the 25th Chinese Control and Decision Conference(第25届中国控制与决策会议)
贵阳
英文
796-800
2013-05-01（万方平台首次上网日期，不代表论文的发表时间）