基於李亞普諾夫之定翼無人機群體控制器與滑動模式風觀測器設計於變動風場環境

Abstract

旋翼無人機已被用於台灣的海防，例如海岸線監視和人員救援。但由於任務區域範圍廣，以及台灣海岸週邊強烈的季風，使得旋翼無人機有效執行任務的難度提高。本論文提出使用定翼無人機編隊飛行系統取代旋翼無人機來提高抗風能力和飛行航程。定翼無人機編隊飛行系統可以利用領導無人機 (leader UAV) 的渦流效應來延長飛行範圍。此外，本論文亦提出一風觀測器為編隊飛行系統提供預估風速和加速度的補償，以減輕變動風場的威脅。最後，透過理想的模型在環（MIL）模擬和更真實的軟體在環（SITL）模擬，成功驗證了帶風補償的定翼無人機編隊飛行系統的性能。兩種模擬結果表明，在兩種編隊飛行軌跡的不同風場環境下，透過風補償，編隊誤差可以顯著減少。所提出的系統在SITL 模擬中的成功整合也顯示了其在實際應用中的可行性。

In Taiwan, a rotorcraft UAV has been used for coastal defense such as the coastline surveillance and rescue of people. However, a wide-range missions area and the strong monsoon wind around Taiwan make it difficult to execute the missions effectively. This thesis proposes a fixed-wing UAVs formation flight system instead of rotorcraft UAVs to improve wind resistance and flight range. A fixed-wing UAVs formation flight system is expected to utilize the wake vortex effect from the leader UAV to extend the flight range. Additionally, a wind observer is proposed to provide the estimated wind velocity and acceleration compensating for the formation flight system to mitigate the threats posed by the variant wind field. Finally, the performance of the fixed-wing UAVs formation flight system with the wind compensation is successfully validated through an ideal model-in-the-loop (MIL) simulation and a more realistic software-in-the-loop (SITL) simulation. In both simulations, the result shows that the formation error is significantly reduced with the wind compensation under variant wind field environments in two formation flight trajectories. The successful integration of the proposed system with the SITL simulation also indicates the feasibility of real-world applications.