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中文摘要: 针对多巡航飞行器的编队跟踪问题展开研究，基于预设性能控制思想和编队控制理论，提出了一种分布式编队控制方案。首先，根据巡航飞行器三自由度的编队模型，引入虚拟控制输入，完成对模型的解耦，并利用预设性能控制的框架，推导出虚拟控制输入的表达式，来实现期望编队跟踪。在此基础上，为了得到实际控制输入，实现对虚拟控制输入的快速、准确跟踪，基于预设性能控制，提出了一种扰动补偿反馈控制律，使得闭环系统在任意初始条件下都具有全局指定时间稳定性。仿真结果表明，所设计的算法能够实现高精度的编队跟踪，在指定时间内实现并保持期望的编队构型。
Abstract:In this paper, a distributed formation tracking control strategy for multi-cruise vehicles based on the prescribed performance theory and formation control technique is proposed. Firstly, according to the 3-DOF formation model of cruise vehicles, a virtual control input is introduced to complete the model decoupling, and its expression is deduced based on the prescribed performance control to realize the desired formation tracking. For the purpose of obtaining actual control input and realizing fast and accurate tracking of the virtual control inputs, a disturbance compensation feedback control law is proposed based on the prescribed performance control, which makes the closed-loop system have global fixed-time stability under any initial conditions. Simulation results show that the proposed scheme can form and maintain the desired formation configuration and realize collision-free formation tracking within the user-specified time.
keywords: multi-cruise vehicles cluster formation tracking prescribed performance control appointed-time stability distributed formation control
文章编号：20250306 中图分类号：V448.2 文献标志码：A
基金项目:国家自然科学基金（62373379）
| Author Name | Affiliation |
| LI Yi | China Satellite Network System Co.,Ltd, |
| WU Xia | School of Electronic Information, Hunan First Normal University |
| WEI Caisheng | School of Automation, Central South University |
引用文本：
李毅,吴瑕,魏才盛.基于预设性能的多巡航飞行器编队飞行控制方法[J].飞控与探测,2025,8(3):63-71.
李毅,吴瑕,魏才盛.基于预设性能的多巡航飞行器编队飞行控制方法[J].飞控与探测,2025,8(3):63-71.