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Research on Coordinated Flight Control of UCAV Based on Multi-Agent

Author: XiaoJian
Tutor: ChenMou
School: Nanjing University of Aeronautics and Astronautics
Course: Navigation,Guidance and Control
Keywords: UCAV Multi-Agent Route Planning Formation flying Ant Colony Algorithm Collaborative flight control
CLC: TP273
Type: Master's thesis
Year: 2007
Downloads: 501
Quote: 1
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Abstract

Unmanned fighter has the advantage of motor and no casualties, the UCAV become a national hotspot. Multi-aircraft cooperative combat achieved an important victory in the war, but how to achieve synergy between fully autonomous unmanned fighter is a major challenge in the field of modern control. This paper studies the Multi-Agent environment UCAV cooperative flight control. Multi-Agent ideas to build a multi-aircraft cooperative flight control systems, stand-alone and multi-aircraft cooperative Track UCAV planning maneuvers control and multi-machine collaborative flight control problem. First of all, the type and characteristics of the Agent and Multi-Agent Systems, as well as intelligent mission controller architecture of the hybrid structure and working principle, and a timeout in the communication process between agents proposed response options. Secondly, proposed a three-dimensional track dynamic programming algorithm based on ant colony. Focus on Multi-Agent Cooperative trajectory planning problem complexity and high computational proposed distributed control scheme based the covariates and collaborative function, a complex high-dimension problem into a tractable optimization problem and this decomposition strategy has general applicability to the promotion of synergy between the Agent. Subsequently, the flight control system design using dynamic inversion control method based on the principle of separation of time scales. In order to eliminate the error of the inverse model imprecise and outside interference, dynamic inversion flight control system based on disturbance observer. Since the basic disturbance observer interference changes slow RBF neural network instead of the disturbance observer, to improve the robustness of the system. Together the multi-machine multi-Agent environment control system, designed disturbance observer-based dynamic inverse formation to maintain. In order to further improve the robustness of the system, a robust controller design ideas based on coordinate transformation. Overall optimal design, and collaborative system control performance and communication cost, and other performance indicators integrated into an ode entitled to the value of the communication channel to the map, so the optimization problem into a minimum traversal path problem. And formation flying to confirm information map, in order to cope with the various failures of the system that may arise in the implementation of tasks. Finally, three-dimensional animated simulation was designed based on Creator and Vega, formation flying animations in the VC environment, verify the design of multi-aircraft cooperative flight control law algorithms validity.

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