摘要
针对自主空中加油(AAR)任务中的飞行器编队形成问题,提出了一个完整的自主控制器方案。采用基于视线的编队制导律控制队形,产生制导指令。针对加油编队过程中产生的模型误差和尾涡扰动等不确定性,基于RBF神经网络和自适应Backstepping方法,设计了UAV姿态和速度非线性控制律来在线逼近和补偿不确定性,保证系统的鲁棒性和稳定性。使用协调转弯方式将航迹角指令转换为姿态指令,以实现控制律对航迹角指令的精确跟踪。最后,仿真结果验证了制导律和控制律的有效性。
An integrated autonomous control scheme is presented for the UAV formation in autonomous aerial refueling（AAR） mission.The formation guidance law is designed based on line-of-sight to generate guidance commands.Aiming at the uncertainty generated by model errors and wake vortex,a nonlinear adaptive control law of attitude and velocity is designed to approximate and compensate the uncertainty by using the RBFNN and adaptive backstepping method,which can guarantee the robustness and stability of system.Using a turn coordination,the guidance commands are transformd into attitude commands which can be tracked by the control law accurately.Finally,the simulation result demonstrates the effectiveness of the presented guidance law and control law.
出处
《飞行力学》
CSCD
北大核心
2010年第6期36-40,共5页
Flight Dynamics
基金
航空科学基金(2008ZC01006)
