中文摘要:

無人機編隊飛行可以大幅提高作戰效率，因而受到了越來越多的關注。從近距離編隊出發，采用長機-僚機編隊結構，設計一種基于BP神經網絡參數整定的PID控制器，并以雙機菱形編隊為基礎，對其進行仿真驗證。仿真結果表明，該控制器能夠實現雙機近距離隊形保持及重構，與常規PID控制器相比，省去PID參數整定時間，并且具有更快的響應速度、更小的超調量及更好的魯棒性。

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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