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多无人机协同控制方法及应用研究
韩亮,任章,董希旺,李清东
0
(北京航空航天大学 中法工程师学院,北京 100191;北京航空航天大学 自动化科学与电气工程学院,北京 100191)
摘要:
多无人机集群作战是未来战争的重要形式。作为集群作战中的关键技术,协同控制有着极为广泛的应用,例如多无人机编队飞行、协同侦查与集群攻击等。简述了多无人机集群作战的发展历程,归纳了集群作战过程中的关键技术,给出了协同控制方法的分类与体系结构。然后,从编队控制、合围控制、跟踪控制3个方面,总结了近年来国内外关于协同控制方法的研究成果。重点介绍了编队控制中的四种典型方法及相关应用,分析了各类编队控制方法的优缺点。最后对多无人机协同控制方法的未来发展方向进行了展望。
关键词:  多无人机  协同控制  编队控制  合围控制  跟踪控制
DOI:
基金项目:国家自然科学基金(61503009, 61333011);北航教学改革项目(2017);北航双百工程优质课程项目(2017)
Research on Cooperative Control Method and Application for Multiple Unmanned Aerial Vehicles
HAN Liang,REN Zhang,DONG Xi-wang,LI Qing-dong
(School of Sino-French Engineer, Beihang University, Beijing 100191, China;School of Automation Science and Engineering, Beihang University, Beijing 100191, China)
Abstract:
Cooperative combat for multiple unmanned aerial vehicles (UAVs) is the main combat mode in the future war. As the key technique, cooperative control has the potential applications in the multiple UAVs formation flight, cooperative detection, and cooperative attack, etc.. This paper briefly describes the development of multi-UAVs cooperative combat, summarizes the key technologies in multi-UAVs cooperative combat, and presents the classification and architecture of cooperative control methods. Then, the research results of cooperative control in recent years are introduced, which includes the research of formation control, containment control and tracking control. Four typical methods and related applications about formation control are highlighted, and the advantages and disadvantages of various formation control methods are presented. Finally, summary and prospects of multi-UAVs cooperative control method are given.
Key words:  Multiple unmanned aerial vehicles  Cooperative control  Formation control  Containment control  Tracking control

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