固定翼
计算机科学
渲染(计算机图形)
运动学
完整的
光学(聚焦)
控制理论(社会学)
李雅普诺夫函数
职位(财务)
控制(管理)
控制工程
模拟
翼
人工智能
工程类
非线性系统
物理
光学
财务
经典力学
量子力学
经济
航空航天工程
作者
Zhihui Du,Xiaobo Qu,Jingping Shi,Jingchao Lu
标识
DOI:10.1016/j.isatra.2023.12.036
摘要
Fixed-wing unmanned aerial vehicles (UAVs) possess high speed and non-hovering capabilities, rendering them uniquely advantages for reconnaissance and detection. The focus of this paper is to addressing the problem of formation control for fixed-wing UAVs in the presence of communication delay. To tackle this problem, for the non-holonomic kinematic model, we propose an intuitive and practical control law based on the leader-follower method to ensure that UAVs maintain a predetermined geometric formation. The stability analysis of the system with communication delay is conducted by constructing a strict Lyapunov–Krasovskii function. Furthermore, we consider the impact of communication delay on formation accuracy and present a prediction algorithm capable of forecasting the actual position of each UAV. To validate our theoretical findings, both digital simulation and hardware-in-loop experiment are conducted.
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