Automatic Formation Control of UAVs Toward Cooperative Penetration
Chen Tian-l · Electronics Optics & Control · 2014
The issue of UAV formation cooperative jamming penetration was studied. A formation manager was designed based on finite machine,mainly for receiving commands,reference point position,neighbor states and its own states. It could manage discrete events in the process of formation cooperative penetration and switch between the formation control laws. The process of formation cooperative penetration was analyzed,and the flow of automatic formation control was confirmed. Simulation results show that the designed formation manager can switch the formation control law automatically according to each discrete event,and accordingly,to achieve changes between formation keeping and formation reconfiguration. The desired position calculated in real time satisfies the constraints for formation in penetration. The proposed method is feasible and effective.