Controller Design of UAVs Formation Keep and Change
Xiao Yahui · Jisuanji fangzhen · 2011
A controller design method is studied for the formation keeping and changing of UAVs formation flight.Considering two UAVs formation flight in a leader-follower configuration of left diamond,the kinematics equations of the formation deduced from geometry relationship is presented,and the linear mathematical model of the formation flight combined with the autopilot model is established.The 3-D controllers for velocity,heading and altitude channels are designed based on PID control,which can realize formation keepingg and changing by controlling the formation separation distances.Simulation results show that the controller can control UAVs formation effectively,that is,keeping formation under maneuvering situations,and advisably controlling formation changing according to the mission requirements without collision.