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

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 ...

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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

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