Input-output Invertibility and Sliding Mode Control for Close Formation Flying of Multiple UAVS
Input-output Invertibility and Sliding Mode Control for Close Formation Flying of Multiple UAVS
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DOI：
10.1002/1099-1239(200008)10:10
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发表时间：
2000-08
影响因子：
3.9
通讯作者：
Sahjendra N. Singh;M. Pachter;P. Chandler;S. Banda;S. Rasmussen;C. Schumacher
中科院分区：
文献类型：
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作者：
Sahjendra N. Singh;M. Pachter;P. Chandler;S. Banda;S. Rasmussen;C. Schumacher
本文研究了输入输出映射的可逆性问题和多无人机编队飞行的鲁棒控制系统设计问题。在近距离编队中，机翼无人机的运动受到相邻领航飞机涡流的影响。这些涡流产生的力是无人机相对位置坐标的复函数。在本文中，这些力被视为未知函数。对于轨迹跟踪，研究了风轴系统中某些输入输出映射的可逆性。有趣的是，在风轴系统中，系统是不可逆的，但在从风轴系统得到的简化坐标系中，速度滚转为零，分离坐标的逆控制是可能的。给出了简化风坐标系下机翼飞行器分离轨迹控制和机头飞行器飞行控制的变结构控制律。给出了两架无人机的仿真结果，显示了在未知涡旋力存在的情况下，当领航机机动时，精确的分离轨迹控制。此外，这些结果证实，当机翼飞机正确地定位在主翼飞机的涡流中时，所需的飞行功率会降低。约翰·威利父子公司于2000年出版。
This paper treats the question of invertibility of input–output maps and the design of a robust control system for formation flying of multiple unmanned aerial vehicles (UAVs). In close formation, the wing UAV motion is affected by the vortex of the adjacent lead aircraft. The forces produced by these vortices are complex functions of relative position coordinates of the UAVs. In this paper, these forces are treated as unknown functions. For trajectory tracking, invertibility of certain input–output maps in the wind axes system are examined. Interestingly, in the wind axes system, the system is not invertible, but in a simplified co-ordinate system obtained from the wind axes system for which the velocity roll is zero, inverse control of separation co-ordinates is possible. Variable structure control laws are derived for separation trajectory control of wing aircraft in the simplified wind co-ordinate system and for the flight control of the lead aircraft. Simulation results for two UAVs are presented which show precise separation trajectory control in spite of the presence of unknown vortex forces, while the lead aircraft maneuvers. Furthermore, these results confirm that when the wing aircraft is positioned properly in the vortex of the lead aircraft, there is a reduction in the required flight power. Published in 2000 by John Wiley & Sons, Ltd.