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多飞行器追踪动态目标是一个协同控制问题,需要根据目标飞行状态,协同各个追踪飞行器的飞行状态,最终能够在某动态的最佳点实现同时到达。考虑到目标具有较强的机动性,轨迹通常为非线性的,设计了一种基于非线性轨迹预测的、以剩余时间为控制变量的一致性控制方案。仿真结果表明,提出的控制方案能够实现空间位置相距较远的多飞行器动态追踪,具有较好的灵活性和收敛性,目标轨迹的预测结果与实际轨迹误差较小,恰当的轨迹估计有助于缩短追踪时间,提高追踪效率。
Multi-aircraft tracking dynamic target is a coordinated control problem, which needs to track the flight status of each aircraft according to the target flight status and finally reach the dynamic best point at the same time. Considering the strong maneuverability of the target, the trajectory is usually non-linear, and a consistent control scheme based on nonlinear trajectory prediction and the remaining time as the control variable is designed. The simulation results show that the proposed control scheme can realize the dynamic tracking of multi-aircraft with long-range spatial positions, and has better flexibility and convergence. The prediction error of the target trajectory is smaller than the actual trajectory. The appropriate trajectory estimation is helpful to Shorten the tracking time, improve tracking efficiency.