Multi-unmanned aerial vehicle formation robust control method based on virtual structure method

Abstract

The invention relates to a four-rotor unmanned aerial vehicle formation flight control method, and aims to realize multi-unmanned aerial vehicle distributed formation control in the presence of inter-vehicle airflow interference and acquisition information constraints. The technical scheme is characterized in that, according to the multi-unmanned aerial vehicle formation control method based on the virtual structure method and a second-order sliding mode algorithm, virtual structure method is used for analyzing a formation system; and aiming at the constraint that part of unmanned aerial vehicles cannot directly obtain the state of a virtual rigid body, and by considering airflow interference among the unmanned aerial vehicles, a multi-unmanned-aerial-vehicle position loop kinetic model isestablished, then the model is simplified into a double-integral model containing disturbance terms, and then a nonlinear controller is designed to achieve formation control. The method is mainly applied to unmanned aerial vehicle formation flight control occasions.

Description

technical field [0001] The invention relates to a control method for formation flight of quadrotor UAVs, in particular to a formation control method for quadrotor UAVs with inter-machine airflow interference and information acquisition constraints. Background technique [0002] UAVs have been widely used in many fields such as military and civilian because of their low cost, strong mobility and no need for human intervention. However, as the complexity and difficulty of tasks continue to increase, it is difficult for a single UAV to achieve the expected goal, so researchers at home and abroad have begun to study the ability of multi-UAVs to perform tasks cooperatively. [0003] Formation control is the core problem of multi-UAV system research. UAVs need to maintain a certain formation during the mission, or need to switch and reconfigure the formation at a specific time, which depends on a reliable formation control strategy. Common formation control methods include Leade...

AI Technical Summary

Problems solved by technology

At present, most studies on multi-UAV formations focus on formation strategies and information processing, and their controllers generally adopt linear control methods or relatively simple nonlinear control methods. Only a few researchers have conducted research on robust control of multi-UAV systems. related research

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