Quadrotor unmanned aerial vehicle cluster anti-interference formation control method based on disturbance observer

Abstract

The invention relates to a quadrotor unmanned aerial vehicle cluster anti-interference formation control method based on a disturbance observer. The quadrotor unmanned aerial vehicle cluster anti-interference formation control method comprises the following steps of: step 1, constructing a single quadrotor coupling kinetic model containing external force disturbance; step 2, establishing the disturbance observer for moment disturbance generated by external wind on unmanned aerial vehicles, and estimating a disturbance value according to the disturbance observer; step 3, estimating a wind disturbance direction according to disturbance values, estimated by the disturbance observer, of an x axis and a y axis of an unmanned aerial vehicle leading aircraft, and designing a four-rotor anti-interference control law; 4, according to the wind disturbance direction estimated by the leading aircraft, when external disturbance occurs, keeping the formation of the four-rotor cluster in an I shape,designing a quadrotor cluster anti-interference formation control law, and achieving anti-interference control over the formation of the unmanned aerial vehicle cluster. According to the quadrotor unmanned aerial vehicle cluster anti-interference formation control method, the trajectory control precision of the single unmanned aerial vehicle can be remarkably improved, external wind disturbance borne by the unmanned aerial vehicle cluster is reduced, disturbance compensation of the single unmanned aerial vehicle is reduced, and the purpose of saving energy is achieved.

Description

technical field [0001] The invention relates to an anti-jamming formation control method for a quadrotor unmanned aerial vehicle cluster based on an interference observer, which is suitable for a task execution scene where the unmanned aerial vehicle cluster is time-varying due to external wind disturbance, and belongs to the field of anti-jamming control for the unmanned aerial vehicle cluster. Background technique [0002] In recent years, with the continuous development of UAV technology, the complexity of its tasks has increased, and the demand for multi-UAV cluster tasks has also increased, requiring UAV clusters to be able to achieve rapid formation control. In addition, as the task scenarios of UAV clusters become more and more complex, the communication conditions of clusters become more stringent, and communication equipment with certain anti-interference capabilities is required; the task execution scenarios of UAV clusters are complex, in order to avoid the collisi...

AI Technical Summary

Problems solved by technology

In addition, as the task scenarios of UAV clusters become more and more complex, the communication conditions of clusters become more stringent, and communication equipment with certain anti-interference capabilities is required; the task execution scenarios of UAV clusters are complex, in order to avoid the collision of UAVs in , and quickly form a specific formation formation, which requires high control accuracy for the cluster formation; in addition, for UAVs, external disturbances are mainly generated by wind force, which acts on the rotation axis of the quadrotor to generate rotational torque, wind force When it is weak, the trajectory tracking accuracy of the quadrotor will be affected. When the wind is strong, the quadrotor will overturn and eventually lead to the damage of the cluster. Therefore, it is necessary to further consider the anti-jamming control problem of the quadrotor UAV

[0003] The patent application number is 201911029214.0, which proposes a UAV swarm formation control method, device and storage medium, which solves the problem that the existing UAV swarm formation control method is difficult to control the UAV swarm to fly along a generally closed curved path. But there are two problems: (1) the patent does not analyze the impact of external disturbances on the cluster; (2) no corresponding cluster anti-disturbance algorithm is proposed, and the actual use will be limited

Patent application number 201811244037.3 proposes a multi-quadrotor master-slave cooperative formation control method based on second-order consistency and self-disturbance rejection. The proposed method has the following problems: (1) lack of analysis of external disturbances, unable to Actively respond to external disturbances; (2) the single UAV anti-disturbance method involved in the method belongs to passive anti-disturbance, and there is no UAV cluster anti-disturbance strategy, so it will be inferior to the method proposed in the present invention in terms of accuracy and rapidity

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