Controlling method and device for formation of unmanned aerial vehicles, and controller

A technology for unmanned aerial vehicles and aerial vehicles, which is applied in non-electric variable control, control/regulation systems, three-dimensional position/course control, etc., and can solve the problem of formation consistency of unmanned aerial vehicles, difficult to maintain position and attitude Issues such as unification and affecting the performance of unmanned aerial vehicle formation flight

Active Publication Date: 2018-11-30
BEIHANG UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these three methods have their own shortcomings, which are as follows: the model of the behavior strategy method is too complex to carry out theoretical analysis; the method based on the virtual structure requires the formation of a virtual structure, which requires a lot of communication and calculation, which limits the application of the method. Potential application scale; the leader-follower method relies too much on the leader, the leader has no clear feedback from the follower, and is not robust
Therefore, none of the existing control methods can better solve the consistency problem of UAV formation
[0004] In addition, each UAV has uncertainties such as nonlinearity, strong coupling, and underactuation, and there are external disturbances in the process of translation and rotation motions, which will make the formation of UAVs in flight It is difficult to maintain a unified position and attitude during the process, which affects the flight performance of the UAV formation

Method used

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  • Controlling method and device for formation of unmanned aerial vehicles, and controller
  • Controlling method and device for formation of unmanned aerial vehicles, and controller
  • Controlling method and device for formation of unmanned aerial vehicles, and controller

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Embodiment 1

[0029] The embodiment of the present invention provides a method for controlling the formation of unmanned aerial vehicles, which uses a robust control method based on consistency to solve the formation control problem of a group of unmanned aerial vehicles, and is suitable for various unmanned aerial vehicles, especially multi-rotor aircraft . The method is performed by a controller; this controller, also called an ensemble controller, consists of a robust position controller and an attitude controller. A robust position controller is used to control the translational motion to achieve the desired trajectory and formation; an attitude controller is used to stabilize the attitude of the aircraft. First refer to the following figure 1 Explain the establishment process of robust position controller and robust attitude controller, and then based on figure 1 The established robust position controller and robust attitude controller, refer to figure 2 The method for controlling ...

Embodiment 2

[0155] Figure 9 A schematic structural diagram of a control device for an unmanned aerial vehicle formation provided by an embodiment of the present invention, as shown in Figure 9 As shown, the device includes: a data acquisition module 91, which is used to obtain the current position data and current attitude data of each aircraft in the unmanned aerial vehicle formation; The pre-designed robust position controller determines the vertical position control input and expected attitude data of each aircraft; the attitude control determination module 93 is used to determine the current attitude data and expected attitude data of each aircraft and the pre-designed robust The attitude controller determines the attitude control input of each aircraft; the flight control module 94 is used to control the unmanned aircraft formation according to the vertical position control input and attitude control input of each aircraft; wherein, the robust position controller and Robust attitu...

Embodiment 3

[0158] see Figure 10 , the embodiment of the present invention also provides a controller 100, including: a processor 40, a memory 41, a bus 42 and a communication interface 43, the processor 40, the communication interface 43 and the memory 41 are connected through the bus 42; the processor 40 uses Executable modules, such as computer programs, stored in the execution memory 41 .

[0159] Wherein, the memory 41 may include a high-speed random access memory (RAM, RandomAccessMemory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 43 (which may be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used.

[0160] The bus 42 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into address...

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Abstract

The invention provides a controlling method and a controlling device for a formation of unmanned aerial vehicles, and a controller, and relates to the technical field of automatic control. The methodcomprises the steps of acquiring current position data and current attitude data of the formation of unmanned aerial vehicles; according to the current position data and a pre-designed robust positioncontroller, determining a vertical position control input and expected attitude data; according to the current attitude data, expected attitude data, and a pre-designed robust attitude position controller, determining an attitude control input; and according to the vertical position control input and the attitude control input, controlling the formation of unmanned aerial vehicles, wherein the robust position controller and the robust attitude controller are implemented based on a graph theory, a backstepping method and a robust compensation technology. Via the graph theory method based on topology, the consistency of the formation of unmanned aerial vehicles is improved; and via the robust compensation method, the robust stability of the formation of the unmanned aerial vehicles during aflying process is improved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a control method, device and controller for unmanned aerial vehicle formation. Background technique [0002] An unmanned aerial vehicle (UAV, Unmanned Aerial Vehicle), also known as a drone, can be used as an aerial platform. The problem of formation control for multiple unmanned aerial vehicle systems has recently attracted considerable attention in the fields of robotics, aerospace, and wireless communications. The use of multiple UAVs increases efficiency by reducing the size and complexity required of a single aerial platform. With the ever-increasing demand for unmanned aerial vehicle formations to cooperate to accomplish complex tasks, the robustness of the flight formation is important. [0003] The control methods of UAV formation mainly include the following: behavior strategy method, virtual structure method and leader-follower method. However, these three ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 刘昊彭发醇蔡国飙刘德元赵万兵
Owner BEIHANG UNIV
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