A Design of UAV Prescribed Performance Controller for Formation Wingman Reentry

Abstract

In order to solve the problem of Leader-Follower formation reentry with uncertain nonlinear dynamics and external time-varying disturbances, a design method of attitude controller for wingman formation based on backstepping is proposed. Firstly, considering the coupling disturbance between wings, this paper constructs the wingman model of UAV formation. Secondly, a design method of pre-set performance controller based on backstepping is adopted. A first-order low-pass filter is introduced to avoid computational expansion and for the sake of solving the problem of repeated differentiation of virtual control variables in the design process. Finally, based on Lyapunov theory, the stability of the prescribed performance controller is analyzed, and the effectiveness of the controller is verified by the data simulation curve. The simulation results show that the prescribed performance controller can improve the stability, accuracy and rapidity of the tracking error in the control process, so that the tracking error converges to the prescribed cells, while the convergence speed and the maximum overshoot are also improved It can meet the prescribed conditions.