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Multi-unmanned aerial vehicle time-varying formation control method based on synchronization strategy

A multi-UAV and control method technology, applied in the direction of non-electric variable control, control/regulation system, three-dimensional position/channel control, etc., can solve the problems that cannot be directly applied to time-varying formations and cannot meet actual requirements, and achieve reduction The effect of coupling and convenient control

Active Publication Date: 2019-10-08
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, these configurations often cannot meet the practical requirements in various applications
Furthermore, it should be pointed out that the results for time-invariant formations generally cannot be directly applied to time-varying formations

Method used

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  • Multi-unmanned aerial vehicle time-varying formation control method based on synchronization strategy
  • Multi-unmanned aerial vehicle time-varying formation control method based on synchronization strategy
  • Multi-unmanned aerial vehicle time-varying formation control method based on synchronization strategy

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Embodiment Construction

[0032] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

[0033] For the mathematical model of the UAV formation in the three-dimensional space, the mathematical model is described by an ellipsoid equation with time-varying parameters, as follows:

[0034]

[0035] In order to realize the time-varying change of the formation formation in three-dimensional space, the ellipsoid equation needs to be written in the form of a parameter equation:

[0036]

[0037] Further write the above formula in the form of a matrix to obtain the final form used to describe the formation formation:

[0038]

[0039] In an embodiment, the present invention uses three quadrotor UAVs to form a formation (i=1, 2, 3), and the three UAVs are located...

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Abstract

The invention discloses a multi-unmanned aerial vehicle time-varying formation control method based on a synchronization strategy. Firstly, an ellipsoid equation with time-varying parameters is adopted to describe the formation of the unmanned aerial vehicles in a three-dimensional space; next, an unmanned system is divided into a position subsystem and an attitude subsystem, and a corresponding mathematical model is established, and a formation error formed by a position error of a single unmanned aerial vehicle and a synchronization error between the unmanned aerial vehicles is defined; andfinally, a control law of the position subsystem and the attitude subsystem is designed based on a sliding mode control method, so that the formation error of the unmanned aerial vehicles gradually tends to be zero. According to the multi-unmanned aerial vehicle time-varying formation control method based on the synchronization strategy provided by the invention, time-varying formation control ofthe unmanned aerial vehicles can be smoothly realized, and the complexity of coordination control on formation of the unmanned aerial vehicles is effectively reduced through decoupling, so that the unmanned aerial vehicle formation can be applied to tasks such as reconnaissance, rescue, cruising and the like.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle formation control, and specifically relates to a multi-unmanned aerial vehicle time-varying formation control method based on a synchronization strategy. Background technique [0002] In recent years, UAVs have attracted the attention of various industries due to their unique advantages. For example, its maneuverability is particularly good, and its ability to adapt to the environment is strong. It can perform various tasks such as reconnaissance and shooting, fire strikes, and its stealth performance is also impressive , the most important thing is that it can avoid casualties. [0003] A single quadrotor has many good characteristics, such as small size, good flexibility, good concealment, and strong adaptability. However, it still has some disadvantages. When a quadcopter is on a mission, if it fails, it must be returned for repair. If it is damaged, it is very likely to interr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 曹科才徐德宝王月男
Owner NANJING UNIV OF POSTS & TELECOMM
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