Unmanned aerial vehicle (UAV)-unmanned ground vehicle (UGV) combined formation cooperative control method

The invention discloses an unmanned aerial vehicle (UAV)-unmanned ground vehicle (UGV) combined formation cooperative control method, comprising the following steps: step 1, establishing nonlinear dynamical models of unmanned vehicles in UAV-UGV combined formation; step 2, processing the nonlinear dynamical models of a UAV and a UGV via equivalent transformation, and taking acceleration as a common control target quantity, obtaining a unified control model taking acceleration as a control input in the combined formation; step 3, establishing a ground-air combined formation structure based on a virtual pilot to obtain a stable control signal for the UAV-UGV combined formation and obtain an error model of the combined formation, wherein the control signal is acceleration obtained in step 2 as a common control target quantity; and step 4, designing a UAV-UGV combined formation controller by adopting a RBF (Radial Basis Function) network algorithm according to the control model, the error model and the acceleration serving as a control signal and a control target quantity at the same time, so that the combined formation is stable and reliable.