Four-rotor flying robot maneuvering formation control method for wireless speed measurement

A flying robot, speed measurement technology, applied in vehicle position/route/altitude control, non-electric variable control, control/regulation system and other directions, can solve the problems of formation control without linear speed distribution and difficult to control motion, etc.

Active Publication Date: 2020-08-28
HUNAN UNIV
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Problems solved by technology

The underactuated and nonlinear coupling characteristics of a quadrotor flying robot make it difficult to control its motion
[0004] Therefore, designing a mobile formation control method for four-rotor flyin

Method used

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  • Four-rotor flying robot maneuvering formation control method for wireless speed measurement
  • Four-rotor flying robot maneuvering formation control method for wireless speed measurement
  • Four-rotor flying robot maneuvering formation control method for wireless speed measurement

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Embodiment Construction

[0059] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. And the features in the embodiments can be combined with each other.

[0060] Such as Figure 1 to Figure 3 As shown, the embodiment of the present invention provides a four-rotor flying robot mobile formation control method for wireless speed measurement, including the following steps:

[0061] S1, for the multi-quadrotor flying robot system that can maneuver in three-dimensional space, use the Newton-Euler equation to establish the dynamic model of each quadrotor flying robot; preferably, in step S1, for the multi-quadrotor flying robot that can maneuver in three-dimensional space Flying robot system, the pose of each quadrotor flying robot is defined in the Euclidean group SE(3) space, wherein, in the inertial coordinate...

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Abstract

The invention discloses a four-rotor flying robot maneuvering formation control method for wireless speed measurement, and the method comprises the steps: building a kinetic model of each four-rotor flying robot by employing a Newton-Euler equation for a multi-four-rotor flying robot system capable of maneuvering in a three-dimensional space; based on an auxiliary filtering signal generator, introducing second-order signals of a plurality of auxiliary variables to eliminate the requirement for linear speed measurement in formation control of the multi-four-rotor flying robot; and finally, based on a geometric control method, designing a nonlinear control law comprising an inner and outer ring cascade structure on the Euclidean group SE (3), the inner ring controlling attitude dynamics andthe outer ring coordinating translation dynamics of each four-rotor flying robot to realize a high maneuvering formation control target. Compared with the prior art, the control law (net thrust and body torque) involved in the method does not depend on the linear velocity vector, that is, the four-rotor flying robot maneuvering formation control method provided by the invention realizes wireless velocity, and does not need linear velocity measurement.

Description

technical field [0001] The invention mainly relates to the field of formation control of four-rotor flying robots, in particular to a mobile formation control method of four-rotor flying robots with wireless speed measurement. Background technique [0002] Flying robot formation control is an active research area due to its wide applications in search and rescue, reconnaissance, surveillance, and relay communication. Quadrotor flying robots have become a popular research platform for flying robots due to their simple structure and vertical take-off and landing capabilities. Since the quadrotor flying robot has only four independent inputs and has six degrees of freedom, the quadrotor flying robot is an underactuated system. The underactuated and nonlinear coupling characteristics of a quadrotor flying robot make it difficult to control its motion. There have been some studies on the formation control of quadrotor flying robots, and their formation control methods can be di...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 缪志强鲁媛王耀南钟杭张辉刘理
Owner HUNAN UNIV
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