Formation control method for multi-quadrotor aircraft containing predictor

Abstract

The invention provides a formation control method for a multi-quadrotor aircraft with a predictor. The method comprises the following steps: 1, setting one quadrotor aircraft as a leader, setting N quadrotor aircrafts with unknown dynamics as followers, and enabling a networked system formed by the followers and the leader through the connection of a one-way topological graph to serve as a controlled object; and 2, arranging a position controller and a posture controller on the ith follower in the N followers, connecting the input end of the position controller and the input end of the posturecontroller of the ith follower with the output end of a directed graph G, connecting the output end of the position controller of the ith follower is connected with the input end of the position controller of the ith follower, and connecting the output end of the ith follower posture controller with the input end of the posture controller of the ith follower. Collision avoidance and connection maintenance among the multi-quadrotor aircrafts are realized, an expected formation pattern is completed, obstacles are avoided, and a formation control target is completed in a predetermined performance range.

Description

technical field [0001] The invention relates to the design of a multi-quadrotor aircraft formation collision avoidance controller including an predictor, and belongs to the technical field of industrial process control. Background technique [0002] In recent years, due to its small size and light weight, the quadrotor aircraft is very suitable for tasks such as near-ground reconnaissance, surveillance, aerial photography, and agricultural sowing, and has been widely used in military and civilian applications. However, the four-rotor aircraft has a history of one hundred years of development. As early as 1907, the world's first four-rotor helicopter was manufactured by the French Breguet brother Louis. Etienne Oemichen, a French engineer at Peugeot, designed the first quadrotor capable of hovering in history in 1924. In 1956, the American designer Convertawing built a quadrotor aircraft using two engines, and the attitude of the aircraft was controlled by changing the speed...

AI Technical Summary

Problems solved by technology

However, due to the limitation of generator volume and other aspects, until the 1990s, the research of quadrotor aircraft did not make great progress.

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