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An approach for formation design and flight performance prediction based on aerodynamic formation unit:Energy-saving considerations

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Chinese Journal of Aeronautics 2024年第3期37卷 77-91页

作者： Nanxuan QIAO Tielin MA Xiangsheng WANG Jie WANG Jingcheng FU Pu XUE School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Institute of Unmanned System Beihang UniversityBeijing 100191China Key Laboratory of Advanced Technology of Intelligent Unmanned flight System Ministry of Industry and Information TechnologyBeijing 100191China School of Transportation Science and Engineering Beihang UniversityBeijing 102206China Beijing Institute of Space Long March Vehicle Beijing 100076China

The performance improvement of swarm drones through aerodynamic shape optimization may be challenging due to folded size constraints imposed by the specific launch ***,fixed-wing aircraft swarms can benefit from formation flight in terms of energy *** study introduces the concept of the"aerodynamic formation unit",which consists of two or three aircraft that form an inseparable unit of the *** the Unmanned Aerial Vehicle(UAV)distribution and wingtip vortex interference in the formation,two typical aerodynamic formation units are optimized by the variable-fidelity aerodynamic optimization method based on space *** aerodynamic characteristics of the formation UAVs that affect flight performance,such as lift-to-drag ratio(L/D ratio)and static stability are analyzed by Computational Fluid Dynamics(CFD)*** L/D ratio(cruising condition)of the following aircraft can be increased by 22.8%and 57.5%in the optimal units that involve two and three aircraft ***,this study conducts several CFD simulations for multi-aircraft formations formed by the units,which show that the average L/D ratio of the formation can be improved by more than 19%.These results verify the feasibility and effectiveness of the"aerodynamic formation unit"concept and the optimization framework for formation parameters.

关键词： formation flight CFD Aerodynamic formation unit Wingtip vortices Foldable tandem-wing aircraft

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Cooperative coalition for formation flight scheduling based on incomplete information

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Chinese Journal of Aeronautics 2015年第6期28卷 1747-1757页

作者： Meng Linghang Xu Xiaohao Zhao Yifei School of Computer Science and Technology Tianjin University Air Traffic Management College Civil Aviation University of China

This study analyzes the cooperative coalition problem for formation scheduling based on incomplete information. A multi-agent cooperative coalition framework is developed to optimize the formation scheduling problem in a decentralized manner. The social class differentiation mech- anism and role-assuming mechanism are incorporated into the framework, which, in turn, ensures that the multi-agent system （MAS） evolves in the optimal direction. Moreover, a further differen- tiation pressure can be achieved to help MAS escape from local optima. A Bayesian coalition nego- tiation algorithm is constructed, within which the Harsanyi transformation is introduced to transform the coalition problem based on incomplete information to the Bayesian-equivalent coali- tion problem based on imperfect information. The simulation results suggest that the distribution of agents＇ expectations of other agents＇ unknown information approximates to the true distribution after a finite set of generations. The comparisons indicate that the MAS cooperative coalition algo- rithm produces a significantly better utility and possesses a more effective capability of escaping from local optima than the proposal-engaged marriage algorithm and the Simulated Annealing algorithm.

关键词： Coalition Commercial aviation formation flight Harsanyi transformation Incomplete information Multi agent systems (MAS) Scheduling

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Highly reliable relative navigation for multi-UAV formation flight in urban environments

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Chinese Journal of Aeronautics 2021年第7期34卷 257-270页

作者： Shizhuang WANG Xingqun ZHAN Yawei ZHAI Cheng CHI Jiawen SHEN School of Aeronautics and Astronautics Shanghai Jiao Tong UniversityShanghai 200240China

formation flight of multiple Unmanned Aerial Vehicles(UAVs)is expected to bring significant benefits to a wide range of *** and reliable relative position information is a prerequisite to safely maintain a fairly close distance between UAVs and to achieve inner-system collision ***,Global Navigation Satellite System(GNSS)measurements are vulnerable to erroneous signals in urban canyons,which could potentially lead to catastrophic ***,on the basis of performing relative positioning with double differenced pseudoranges,this paper develops an integrity monitoring framework to improve navigation integrity(a measure of reliability)in urban *** the one hand,this framework includes a fault detection and exclusion scheme to protect against measurement *** accommodate urban scenarios,spatial dependence in the faults are taken into consideration by this *** the other hand,relative protection level is rigorously derived to describe the probabilistic error bound of the navigation *** indicator can be used to evaluate collision risk and to warn collision danger in real *** proposed algorithms are validated by both simulations and flight *** results quantitatively reveal the sensitivity of navigation performance to receiver configurations and environmental *** experimental results suggest high efficiency and effectiveness of the new integrity monitoring framework.

关键词： Collision avoidance formation flight Global Navigation Satellite System(GNSS) Integrity Relative navigation Unmanned Aerial Vehicle(UAV)

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formation flight Control and Cooperative Obstacle Avoidance of Multiple UAVs

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Guidance, Navigation and Control 2023年第4期3卷 111-134页

作者： Xiaotong Jiang Wangcheng Zhang Mingyang Sun Shuang Tang Ziyang Zhen College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 P.R.China CASIC Research Institute of Intelligent Decision Engineering Wuhan 430040 P.R.China

This paper primarily focuses on the obstacle avoidance issue of followers in unmanned aerial vehicle(UAV)formation flight while considering formation *** on consensus theory and the artificial potential field(APF)principle,a new fusion UAV formation control algorithm is *** method employs a formation control strategy that combines the leader-following method and the virtual structure method,enabling the generation,maintenance and transformation of the formation through the utilization of a consensus *** response to the specific problem of the follower within the formation entering the no-fly zone and the self-collision among UAVs,APF-based formation path replanning and self-collision prevention algorithms are *** simulation results demonstrate the effectiveness of the proposed algorithm.

关键词： formation flight collaborative control consensus theory artificial potential field

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Autonomous formation flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

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Journal of Bionic Engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics formation flight Leader follower strategy

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Trophallaxis network control approach to formation flight of multiple unmanned aerial vehicles

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Science China(Technological Sciences) 2013年第5期56卷 1066-1074页

作者： DUAN HaiBin LUO QiNan YU YaXiang Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University

A novel network control method based on trophaUaxis mechanism is applied to the formation flight problem for multiple un- manned aerial vehicles （UAVs）. Firstly, the multiple UAVs formation flight system based on trophallaxis network control is given. Then, the model of leader-follower formation flight with a virtual leader based on trophallaxis network control is pre- sented, and the influence of time delays on the network performance is analyzed. A particle swarm optimization （PSO）-based formation controller is proposed for solving the leader-follower formation flight system. The proposed method is applied to five UAVs for achieving a ＇V＇ formation, and a series of experimental results show its feasibility and validity. The proposed control algorithm is also a promising control strategy for formation flight of multiple unmanned underwater vehicles （UUVs）, unmanned ground vehicles （UGVs）, missiles and satellites.

关键词： unmanned aerial vehicle (UAV) trophaHaxis network control formation flight particle swarm optimization (PSO)

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An Optimization Method of formation flight for Minimizing Fuel Consumption

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Transactions of Nanjing University of Aeronautics and Astronautics 2021年第2期38卷 306-315页

作者： HU Yue DAI Wei PRATS Xavier College of Air Traffic Management Civil Aviation University of ChinaTianjin 300300P.R.China Air Traffic Management Research Institute Nanyang Technological University637460Singapore School of Mechanical and Aerospace Engineering Nanyang Technological University639798Singapore Aerospace Division Department of PhysicsTechnical University of Catalonia‑Barcelona TechCatalonia 08860Spain

A method for formation flight trajectory optimization was *** method aims at minimizing fuel consumption of a two-aircraft formation flight,without changing the original trajectory of the *** flight pairs were selected from all international flights arriving at or departing from China in one day according to the requirement of the proposed *** performance database Base of Aircraft Data(BADA)was employed in the trajectory *** assuming different fuel-saving percentages for the following aircraft,pre-flight plan trajectories of formation flight were *** fuel consumption optimization effect under the influence of different trajectory optimization parameters was also *** results showed that the higher the fuel savings percentage,the longer the flight distance of formation flight,but the smaller the number of formation combinations that can be realized,which is limited by the aircraft *** following aircraft flying along the approximate actual flight trajectory can be benefited as well,and the optimal fuel-saving efficiency is related to the expected fuelsaving efficiency of formation flight.

关键词： formation flight trajectory optimization fuel-saving Base of Aircraft Data(BADA)

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IDENTIFYING THE NUMBER OF AIRCRAFT IN formation flight USING ISAR TECHNIQUE

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Chinese Journal of Aeronautics 1999年第3期12卷 34-37页

作者：朱岱寅朱兆达

In this paper, an attempt at applying the cross range one dimensional ISAR processing for identifying the number of aircraft in formation flight is described. The procedure will succeed only if the translational motion of the target is compensated perfectly. The two dimensional ISAR motion compensation methods based on high resolution range profile, such as the scatter point referencing and the track the target centroid, can not be used here. The track fitting method, which can be used for one dimensional ISAR motion compensation, relies on a parametric model and suffers from a serious defect of large amount of computation. The authors proposed an iterative dominant scatterer method for one dimensional ISAR motion compensation. It is robust and nonparametric with low computational complexity. Live echo signals from two fighter planes in formation flight have been collected using an S band surveillance radar. The cross range one dimensional ISAR processing was done. Experimental results show that identifying the number of aircraft in formation flight via cross range one dimensional ISAR processing is feasible.

关键词： inverse synthetic aperture radar radar imagery motion compensation formation flight radar resolution

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Autonomous Aerial Refueling formation flight Control Based on Finite-time Control under Wind Field Disturbance

Autonomous Aerial Refueling Formation Flight Control Based o...

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第40届中国控制会议

作者： You Duan Yaohong Qu Wenbi Zhao School of Automation Northwestern Polytechnical University

In order to solve the problem that the aerial refueling formation has low accuracy and is greatly affected by wind disturbance, this paper proposes a finite-time stable formation control method based on three-dimensional guidance. First, a high-accuracy formation control method is proposed, which can eliminate the forward, lateral and longitudinal directions errors by controlling the track angle. Secondly, a formation controller based on finite-time control to resist wind field interference is designed. Finally, it is verified that the fast terminal sliding surface converge in a finite time on the basis of Lyapunov’s stability theory. The simulation results show that the formation method combining three-dimensional guidance law and fast terminal sliding mode control can not only ensure that the formation distance error is less than 0.5m, but also improve the robustness of the system to reach the desired state quickly.

关键词： Aerial Autonomous Refueling formation flight finite-time stability Fast terminal sliding mode control

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Multi-UAVs formation flight Control Based on Leader-Follower Pattern

Multi-UAVs Formation Flight Control Based on Leader-Follower...

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第36届中国控制会议

作者： Wen Yuan Qing Yang Chen Zhong Xi HOU Yue Li College of Aerospace Science and Engineering National University of Defense Technology Department of Airborne Vehicle Engineering Naval Aeronautical and Astronautical University

ISBN: (纸本)9781538629185

As a core concept in the development of Unmanned Aerial Vehicles（UAVs） co-operation, formation flight is attracting more and more attention recently. To realize formation flight of fixed-wing vehicles, a geometric formation flight control method based on real-time guidance point computation is proposed in the paper. The control method is within the leader-follower pattern. Through the feed forward of the guidance point, the formation is guaranteed to converge quickly and keep effectively. What’s more, based on the control method, a speed adjustment method is proposed, to make the formation keep accurately. Finally, based on the researched autopilot and three small fixed-wing vehicles, rectangle, circular and triangle formation flight experiments are carried out. Through the experiments, the feasibility of the formation control method and effectiveness of the speed adjustment method during formation keeping and transforming processes are verified in the paper.

关键词： formation flight Leader-Follower Pattern Guidance Point Calculation Speed Adjustment flight Experiment

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