【作者】 陈杨杨； 田玉平；

【Author】 CHEN Yang-Yang,TIAN Yu-Ping School of Automatic Control,Southeast University,Nanjing 210096,P.R.China

【机构】 东南大学自动化学院；

【摘要】 研究了三维空间中动力学模型描述的多飞行器的协同路径跟踪控制问题.根据轨道函数与弧长函数设计协同路径跟踪控制律,实现了有向通信连接下的多飞行器在给定平面简单闭曲线族上的编队运动.利用图论和不变性原理证明,当通信拓扑对应的有向图具有全局可达点时,设计的协同路径跟踪控制系统是渐进稳定的.五架飞行器沿给定曲线编队飞行的仿真结果说明了该方法的有效性.更多还原

【Abstract】 This paper studies the coordinated path following problem in three-dimensional space for a family of aircrafts described by dynamic models.With the help of the concepts of orbit function and arc length function,coordinated path following laws are constructed for multiple aircraft systems with directed communication topologies,which guarantee formation flying of the aircrafts along some given plane curves which are simple and closed.By the graph theory and the invariance principle,it is proved that the designed coordinated path following control system is asymptotically stable if the directed topology graph has a globally reachable node.Examples of formation flying of five aircrafts are shown in simulation to illustrate the method.更多还原