基于集群空间构架的有人/无人机共融集群编队控制方法

• Format: Patent
• Language: Chinese
• Published: 13.10.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

本发明公开一种基于集群空间构架的有人/无人机共融集群编队控制方法，包括步骤一：搭建六自由度非线性有人机仿真模型；步骤二：建立无人机简化仿真模型；步骤三：搭建有人/无人机共融集群空间构架；步骤四：设计二阶有人/无人机集群空间控制器；步骤五：设计基于反步法的无人机集群空间控制指令；步骤六：有人机操作员控制指令输入，操作员仅需改变单个变量即可改变整个有人/无人机共融集群的飞行状态。本发明方法面向更为复杂的六自由度非线性有人机模型，具有实际应用价值；本发明方法促进了有人机操作员更简捷、高效地监督和控制无人机集群运动系统，降低操作员进行干预决策的工作负荷，缩短决策时间，提高有人/无人机的协同作战能力。 The invention discloses a manned/unmanned aerial vehicle co-fusion cluster formation control method based on a cluster space framework. The method comprises the steps of 1, building a six-degree-of-freedom nonlinear manned aerial vehicle simulation model; 2, establishing a simplified simulation model of the unmanned aerial vehicle; 3, building a manned/unmanned aerial vehicle co-fusion cluster space framework; 4, designing a second-order manned/unmanned aerial vehicle cluster space controller; 5, designing an unmanned aerial vehicle cluster space control instruction based on a backstepping method; and step 6, a manned aerial vehicle operator inputs a control instruction, and the operator can change the flight state