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Multi-quadrotor master-slave cooperative formation control method based on second-order consistency and active disturbance rejection

A control method, four-rotor technology, applied in non-electric variable control, control/regulation system, three-dimensional position/course control, etc.

Active Publication Date: 2019-02-12
ZHONGBEI UNIV
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Problems solved by technology

[0004] In order to solve the problems of geometric formation formation, stable maintenance and cooperative anti-interference in the process of multi-quadrotor formation flight, the present invention provides a second-order consistency and self-disturbance based on the cooperative control strategy of the leader-follower. Multi-quadrotor master-slave cooperative formation control method

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  • Multi-quadrotor master-slave cooperative formation control method based on second-order consistency and active disturbance rejection
  • Multi-quadrotor master-slave cooperative formation control method based on second-order consistency and active disturbance rejection
  • Multi-quadrotor master-slave cooperative formation control method based on second-order consistency and active disturbance rejection

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Embodiment

[0075] In order to assess the performance of the constructed controller, the quadrotor kinematics / dynamics model described by formula (1) is used for simulation. The parameters of the quadrotor kinematics / dynamics model are shown in Table 1.

[0076] The model parameters used for controller construction are chosen as follows: Quadrotor mass m i is 2kg, and the gravitational acceleration g is 9.8m / s 2 , the inertia matrix J i =diag(J i,1 ,J i,2 ,J i,3 ) = diag(0.16,0.16,0.32)kgm 2 , the air damping matrix Π 1,i =diag(k x,i ,k y,i ,k z,i )=diag(0.01,0.01,0.01)Nms 2 , the air damping matrix Π 2,i =diag(k φ,i ,k θ,i ,k ψ,i )=diag(0.01,0.01,0.01)Nms 2 , the geometric distance l from the propeller to the center of mass of the quadrotor i is 0.4 meters, the moment coefficient c i is 0.05, parameter uncertainty δ 1,i ,δ 2,i respectively and

[0077] Table 1 Quadrotor kinematics / dynamics model parameters

[0078]

[0079] The communication topology and forma...

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Abstract

The invention discloses a multi-quadrotor master-slave cooperative formation control method based on second-order consistency and active disturbance rejection. Aiming at the problems of geometric formation generation, stable maintenance and cooperative disturbance rejection in the multi-quadrotor formation flight process, the multi-quadrotor master-slave cooperative formation control method whichcan cope with external environment interference and aerodynamic parameter uncertainty is provided and comprises the steps that firstly, a quadrotor kinematics / dynamics model with external interferenceis established; secondly, a multi-quadrotor master-slave communication topology and formation style and position and speed information of a navigator are designed; then, a multi-quadrotor distributedposition retention controller is constructed to provide necessary expectation instructions for subsequent attitude controller construction; and finally, a multi-quadrotor attitude tracking controllerbased on active disturbance rejection control is constructed. According to the formation control method, the disturbance rejection capability of a quadrotor formation system under the premise of local intellectual body communication can be significantly improved, and the stability of the multi-quadrotor formation geometric configuration under the disturbance environment is enhanced.

Description

technical field [0001] The present invention relates to the navigation guidance direction and the field of multi-quadrotor formation, specifically a multi-quadrotor master-slave cooperative formation control method based on second-order consistency and self-disturbance rejection, which is mainly used in situations where there are external disturbances and parameter uncertainties Multiple quadrotor formation missions. Background technique [0002] Multi-quadrotor cooperative formation refers to the fact that multi-quadrotors maintain the predetermined spatial geometric topology and use global or local information interaction and sharing to realize the group agglomeration behavior of the multi-rotor system and form the collaborative transcendence ability of the multi-agent system. Provide effective solutions to complex tasks that monoliths cannot handle. For example, multi-quadrotors can use reasonable formation flight to replace soldiers to perform military tasks such as tar...

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 邵星灵杨卫曹志斌刘宁
Owner ZHONGBEI UNIV
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