中文摘要:

無人機(jī)編隊(duì)飛行可以大幅提高作戰(zhàn)效率，因而受到了越來越多的關(guān)注。從近距離編隊(duì)出發(fā)，采用長機(jī)-僚機(jī)編隊(duì)結(jié)構(gòu)，設(shè)計(jì)一種基于BP神經(jīng)網(wǎng)絡(luò)參數(shù)整定的PID控制器，并以雙機(jī)菱形編隊(duì)為基礎(chǔ)，對其進(jìn)行仿真驗(yàn)證。仿真結(jié)果表明，該控制器能夠?qū)崿F(xiàn)雙機(jī)近距離隊(duì)形保持及重構(gòu)，與常規(guī)PID控制器相比，省去PID參數(shù)整定時(shí)間，并且具有更快的響應(yīng)速度、更小的超調(diào)量及更好的魯棒性。

英文摘要:

The formation flight of multi-unmanned aerial vehicles (UAVs) can greatly improvethe effieienty of battle mission,thus more and more attention has beenreceived.Starting from the short-range formation,based on the leader-followerstructure,a PID controller adjusted by neural networks is designed,thecontroller based on double formation is verified by simulation.Simulationresults show that this controller can achieve the goal of formation keeping andreconfiguration.Compared with the traditional PID controller,formation canfaster recover with smaller overshoot,and has better robustness.

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