高速无人靶机编队拧制研究

Aiming at the problem of coordinated formation control of fixed-wing unmanned target drone aircraft(UTDA) that can simulate the high-speed and high-maneuverability of the fourth and fifth generation advanced fighters in the actual combat training within a limited flight aera, an improved consensus-based formation control law is proposed. Firstly, the kinematics model of the UTDA is established. Secondly, based on the consensus theory, the acceleration is considered, and a formation control law is designed with the feedback of position, velocity and acceleration. Furthermore, considering the limited flight aera, a formation change strategy is proposed based on the shortest path to achieve rapid formation change. The simulation results show that the proposed improved consensus formation control law considering acceleration feedback can make the formation state of the UTDA converge to the expected values quickly, and realize the rapid formation adjustment and stable formation keeping.