针对多无人机编队控制难题, 设计了一种基于虚拟长机与非线性视线导引律相结合的多机编队控制算法。将编队飞行过程分为航路飞行与航路切换两个阶段。在航路飞行阶段, 虚拟长机由非线性视线导引律生成参考点, 根据队形的几何位置生成实际编队飞机的期望参考点, 进而得到每架飞机保持编队队形所需的滚转角指令；在航路切换阶段, 虚拟长机采用圆弧飞行, 以虚拟长机作为编队飞机的期望参考点生成队形保持的滚转角指令。速度指令由虚拟飞机与编队飞机之间的距离误差得到。以某固定翼飞机的非线性仿真模型为基础, 设计典型“V”字队形, 通过数值仿真验证了多架飞机在航路飞行与航路切换阶段编队算法的可靠性与控制精度。

To solve the problem of UAV formation control,an aircraft formation control algorithm based on the combination of virtual lead aircraft and nonlinear sight guidance law is designed.The formation flying process is divided into two phases,that is,route flight and route switching.In the phase of route flight,based on the virtual lead aircraft,the reference points are generated by using the nonlinear sight guidance law,the desired reference points for the formation aircraft are generated based on the geometric position of the formation,and the roll angle command needed for each aircraft to maintain the formation is obtained.In the phase of route switching,the virtual lead aircraft adopts circular arc flight,and the formation aircraft takes the virtual lead aircraft as the desired reference points to generate the roll angle command needed for formation keeping.The velocity command is obtained from the distance error between the virtual aircraft and the formation aircraft.Based on the nonlinear simulation model of a fixed-wing aircraft,a typical “V” formation is designed.The reliability and control accuracy of the multi-aircraft formation control algorithm in the phases of route flight and route switching are verified by numerical simulations.