A performance-guaranteed neural adaptive cooperative formation control method for multi-quadrotor master-slave
A control method and four-rotor technology, applied in the direction of adaptive control, attitude control, general control system, etc., can solve the problems of transient stability performance deterioration, insufficient robustness of formation system, low computational complexity, etc., and achieve the elimination of coupling Influence, improve real-time and quick response ability, reduce the effect of online learning burden
Active Publication Date: 2022-04-19
ZHONGBEI UNIV
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Problems solved by technology
[0004] The problem solved by the technology of the present invention is to provide an online low-computational A multi-quadrotor master-slave performance-guaranteed neural adaptive cooperative formation control method that can quickly and smoothly realize interference identification and compensation. Specifically, a preset performance function, error conversion, and consistency technology are introduced into the quadrotor trajectory loop. Transform the original constrained formation error control problem into the error stabilization problem of an unconstrained system to ensure that the formation synchronization error meets the preset transient performance and steady-state accuracy; for the trajectory and attitude loops, construct online learning with low dimensionality and calculation Real-time predictive minimum parameter learning neural network approximator to achieve smooth and fast online learning and compensation for unknown nonlinear disturbances, and at the same time eliminate the coupling effect of control loops and neural learning loops
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[0083] The present invention will be further described below in conjunction with specific embodiments and accompanying drawings.
[0084] A multi-quadrotor master-slave type performance-guaranteed neural adaptive cooperative formation control method, such as figure 1 shown, including the following steps:
[0085] (1) Establish a four-rotor individual trajectory loop and attitude loop model with parameter uncertainty and external disturbance, as follows:
[0086] Establish the i-th quadrotor individual trajectory loop and attitude loop model:
[0087]
[0088] Among them, m i is the mass of the i-th quadrotor, t is the time, G i =[0,0,m i g] T , g is the acceleration due to gravity, J i =diag{J i,1 ,J i,2 ,J i,3}∈R 3×3 represents a positive definite diagonal inertia matrix, J i,1 、J i,2 、J i,3 are the moments of inertia of the i-th quadrotor along the x, y, and z axes in the inertial coordinate system, p i =[x i ,y i ,z i ] T ,Θ i =[φ i ,θ i ,ψ i ] T r...
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The invention discloses a multi-quadrotor master-slave type performance-guaranteed neural self-adaptive cooperative formation control method, which relates to the field of multi-quadrotor formation automatic control, and has the characteristics of online low computational complexity, fast and smooth realization of interference identification and compensation, specifically Specifically, the preset performance function, error conversion, and consistency technology are introduced into the quadrotor trajectory loop to transform the original constrained formation error control problem into an unconstrained system error stabilization problem, ensuring that the formation synchronization error meets the preset Transient performance and steady-state accuracy; for the trajectory and attitude loops, construct a predictive minimum parameter learning neural network approximator with low online learning dimensionality and strong real-time calculation, so as to realize smooth and fast online learning and compensation for unknown nonlinear disturbances, At the same time, eliminating the coupling effect of the control loop and the neural learning loop can significantly improve the real-time and fast response capabilities of the multi-quadrotor system formation control.
Description
technical field [0001] The invention relates to the field of automatic control of multi-quadrotor formations, specifically a multi-quadrotor master-slave type performance-guaranteed neural adaptive cooperative formation control method, which is applied to multi-quadrotor formations with strong interference, unmodeled parts and uncertain parameters Task. Background technique [0002] The multi-quadrotor cooperative formation refers to the multi-quadrotors maintaining the predetermined spatial geometric topology, with the help of global or local information interaction and sharing, to form a multi-agent system's collaborative transcendence ability, in order to perform complex tasks that cannot be performed by a single Provide effective solutions. For example, multi-quadrotors can use reasonable formation flight to replace soldiers to efficiently perform dangerous military tasks such as target detection and enemy information collection. The disadvantages of incomplete acquisi...
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IPC IPC(8): G05B13/04G05B13/02G05D1/10G05D1/08
CPCG05B13/042G05B13/048G05B13/027G05D1/104G05D1/0825G05D1/0841G05D1/0088
Inventor 邵星灵杨卫王琳玮孟庆霄
Owner ZHONGBEI UNIV