TY - GEN
T1 - Multi-rigid-body dynamics modeling and controller design for a connected UAV formation
AU - Chen, Mingzhe
AU - Zhou, Zhou
AU - Wang, Rui
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper proposes a method of unmanned aerial vehicle (UAV) formation with connecting devices to take advantage of the aerodynamic advantages of the UAV fleet during close range formation flight. By combining the theory of multi-rigid-body system with the traditional six-degree-of-freedom equations of aircraft, a multi-rigid-body dynamics model of the connected UAV formation is established, which can describe the dynamic characteristics of the UAV formation when the formation changes. On this basis, the attitude control system of the UAV formation consisting of UAVs with only one control surface is designed, and the full-state non-linear numerical simulation model of the UAV formation is built in Simulink. The simulation results validate the rationality of the modeling method, and show that the attitude control system designed can effectively deal with the difficulties caused by the coupling of longitudinal and lateral controls and the complex aerodynamic forces of UAV formation.
AB - This paper proposes a method of unmanned aerial vehicle (UAV) formation with connecting devices to take advantage of the aerodynamic advantages of the UAV fleet during close range formation flight. By combining the theory of multi-rigid-body system with the traditional six-degree-of-freedom equations of aircraft, a multi-rigid-body dynamics model of the connected UAV formation is established, which can describe the dynamic characteristics of the UAV formation when the formation changes. On this basis, the attitude control system of the UAV formation consisting of UAVs with only one control surface is designed, and the full-state non-linear numerical simulation model of the UAV formation is built in Simulink. The simulation results validate the rationality of the modeling method, and show that the attitude control system designed can effectively deal with the difficulties caused by the coupling of longitudinal and lateral controls and the complex aerodynamic forces of UAV formation.
KW - Attitude control system
KW - Control coupling
KW - Multi-rigid-body dynamics model
KW - Numerical simulation
KW - UAV formation
UR - https://www.scopus.com/pages/publications/85074858974
U2 - 10.1109/ICMAE.2019.8880953
DO - 10.1109/ICMAE.2019.8880953
M3 - 会议稿件
AN - SCOPUS:85074858974
T3 - 2019 IEEE 10th International Conference on Mechanical and Aerospace Engineering, ICMAE 2019
SP - 187
EP - 192
BT - 2019 IEEE 10th International Conference on Mechanical and Aerospace Engineering, ICMAE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th IEEE International Conference on Mechanical and Aerospace Engineering, ICMAE 2019
Y2 - 22 July 2019 through 25 July 2019
ER -