Consistent control method for heterogeneous multi-UAV

Abstract

The invention discloses a uniform control method for a heterogeneous multi-unmanned aerial vehicle system. It is a high-order integrator system, combining the transformed integrator systems to obtain the mathematical model of the heterogeneous multi-UAV system; design the consistency control protocol of the heterogeneous multi-UAV system under the fixed directional topology, and determine the system The necessary and sufficient conditions for achieving consistency under this protocol and the convergent state equation for achieving consistency. Aiming at the design and analysis of the consistency control protocol of the heterogeneous multi-UAV system, the present invention designs the consistency control protocol in the three-dimensional space for the heterogeneous multi-UAV system under the fixed directional topology structure, which is more in line with the needs of practical engineering applications; Under this protocol, the consistent aggregation of heterogeneous multi-UAVs in three-dimensional space can be realized, and the convergence position value of UAVs can be known through the convergence equation.

Description

technical field [0001] The invention relates to the field of UAV formation control, in particular to the design and analysis of a heterogeneous multi-UAV consistency control protocol. Background technique [0002] Unmanned Aerial Vehicle (UAV), also known as unmanned aerial vehicle, is an unmanned aerial vehicle that is controlled by radio remote control equipment and its own program control device. Structurally, UAVs can be divided into fixed-wing UAVs and rotary-wing UAVs. Fixed-wing UAVs usually have the wings fixed on the body, and their structural design draws on the aerodynamic principles and design experience of existing large aircraft, with certain gliding ability, long flight distance and fast flight speed; The direct power of the man-machine comes from the paired rotors symmetrically distributed around the body and in opposite directions of rotation, and the rotor speed is changed by the motor to complete the flight attitude adjustment and various basic flight act...

AI Technical Summary

Problems solved by technology

At present, most of the research on the consensus control problem of heterogeneous multi-agent systems is the combination of first-order and second-order agents. In fact, it often takes a lot of time to establish an accurate mathematical model for heterogeneous multi-agent systems. time and energy, the resulting dynamical equations are often not the so-called first-order, second-order or general linear systems, which leads to certain limitations in the combination of first-order and second-order agents, while first-order and high-level The consensus problem of multi-agent systems composed of super-agents is rarely studied in China

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