UAV formation control based on nonlinear dynamic inversion
HU Ming-lang · Kongzhi yu juece · 2011
In order to form and maintain formation when the unmanned aerial vehicles(UAVs) maneuver in three-dimension space,a formation control method based on non-linear dynamic inversion is presented.The unmanned aerial vehicle(UAV) formation control method can be decomposed into two steps.Firstly,by considering the distributed information topology,a leader state estimating algorithm is presented based on neighbor UAVs,and the expected command instruction of each UAV is obtained based on estimated leader state.Then a formation controller is designed based on the nonlinear dynamic inversion method.The controller can make each UAV follow the command instruction precisely,and form the desired formation quickly.Simulation results show that,when the formation leader maneuvers in three-dimension space,the followers can estimate its state with little error,and form and maintain the formation quickly and steadily.