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针对多无人机(UAV)协同standoff跟踪问题,提出了UAV的横侧向和纵向制导律。对参考点制导(RPG)进行改进,作为UAV的横侧向制导律。然后,采用一组非线性微分方程对UAV和目标相对距离的调节过程进行建模,在此基础上证明了改进RPG的渐近稳定性,并推导了RPG参数与系统性能的关系,为RPG参数的选取提供了依据。最后,给出了UAV的纵向制导律,并分析了其渐近稳定性。仿真结果表明,改进RPG的跟踪误差和时间乘以误差绝对值积分(ITAE)指标均优于Lyapunov向量场制导(LVFG)和模型预测控制(MPC),故改进RPG具有更快的响应速度和更高的稳态精度。
Aiming at the multi-UAV coordinated standoff tracking problem, the lateral and longitudinal guidance laws of UAV are proposed. Improve the Reference Point Guidance (RPG) as a lateral lateral guidance law of UAV. Then, a set of nonlinear differential equations is used to model the adjustment process of the relative distance between the UAV and the target. Based on this, the asymptotic stability of the improved RPG is proved and the relationship between RPG parameters and system performance is deduced. Provided the basis for the selection. Finally, the longitudinal guidance law of UAV is given and its asymptotic stability is analyzed. The simulation results show that the improved RPG tracking error and time multiplied by the error absolute value integral (ITAE) indicators are better than Lyapunov vector field guidance (LVFG) and model predictive control (MPC), so the improved RPG has faster response speed and more High steady-state accuracy.