Optimal Unmanned Ground Vehicle—Unmanned Aerial Vehicle Formation-Maintenance Control for Air-Ground Cooperation

This paper investigates the air–ground cooperative time-varying formation-tracking control problem of a heterogeneous cluster system composed an unmanned ground vehicle (UGV) and aerial (UAV). Initially, structure UAV–UGV formation-control is analyzed from perspective combat system. Next, based on motion relationship between in relative coordinate system, model them established, which can clearly reveal physical meaning process Then, under premise that UAG closed-loop stable, state UGV modeled as input perturbation. Finally, using linear quadratic optimal theory, formation-maintenance controller designed to track reference trajectory model. The simulation results demonstrate proposed overcome perturbations, model-constant linearization biases. Moreover, it achieve fast stable adjustment maintenance desired formation by mission planning