三维编队飞行模型建立及自适应鲁棒控制

以张量分析为工具建立无人机编队飞行相对运动模型,用飞行中外界干扰的估计值构造系统能量函数,根据Lyapunov稳定判据,提出一种无人机编队飞行队形保持的自适应鲁棒控制律。研究表明：无人机编队飞行张量模型具有广泛的适用性；为无人机编队飞行深层问题研究、克服标架奇点引起的计算障碍等提供了新途径；提出的控制律简单,有效。

Construction of 3-dimensional formation flight model and adaptive robust control

The relative motion model of UAVs formation flight is constructed with tensor analysis, and the system energy function is constructed with the estimations of the external disturbances during flight. According to Lyapunov stability criterion, an adaptive robust control law is presented to keep the UAVs formation flight. The research results show that the proposed UAVs formation flight tensor model has broad applicability, and provides new ways to the further research of the UAVs formation flight as well as new ways to overcome the computing problem resulting from the singular point of the body frame, while the proposed control law is simple and effective.