Fire-fighting unmanned aerial vehicle formation sliding mode control method based on event triggering

Abstract

The invention provides a fire-fighting unmanned aerial vehicle formation sliding mode control method based on event triggering, belongs to the technical field of fire-fighting unmanned aerial vehicleformation control, solves the problem that an existing control method cannot give consideration to attitude control and position control of fire-fighting unmanned aerial vehicles at the same time, andovercomes the defects that an existing control method causes many times of updating of an unmanned aerial vehicle controller and the performance deterioration is fast. Firstly, a model of the quad-rotor unmanned aerial vehicle and a topological relation of communication between the unmanned aerial vehicles need to be established. And then, an error-based sliding mode dynamic surface is designed,and further corresponding controllers in combination with an event triggering mechanism are designed so as to realize the rapid formation of the unmanned aerial vehicles. According to the method, a position controller and an attitude controller are respectively designed according to the position and attitude information of the unmanned aerial vehicles aiming at the four-rotor fire-fighting unmanned aerial vehicle model in practical application, the formation of multiple unmanned aerial vehicles and attitude stabilization are finally realized under the action of the two controllers, and attitude control and position control of the unmanned aerial vehicles are both considered.

Description

technical field [0001] The present invention relates to the technical field of fire-fighting UAV formation control, and more particularly, relates to an event-triggered fire-fighting UAV formation synovial control method. Background technique [0002] In recent years, with the development of fire-fighting drone technology, the application fields of fire-fighting drones have become more and more extensive, and the functions of fire-fighting drones have become more and more powerful. In addition, with the substantial increase in the market share of quad-rotor fire-fighting drones, the formation of multi-rotor fire-fighting drones is an attractive research hotspot. [0003] Fire-fighting drones can play a great role in the fire-fighting work of high-rise buildings, such as fire location, fire detection, and high-rise fire extinguishing. These tasks are relatively difficult tasks for normal fire trucks and firefighters. Therefore, there are currently many research topics relate...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem that the existing fire-fighting UAV control method cannot take into account the attitude control and position control of the fire-fighting UAV at the same time, and in order to overcome the defects that the UAV controller has many updates and the performance decays quickly due to the existing control method, The present invention proposes an event-triggered fire-fighting drone formation synovium control method, which takes into account the attitude control and position control of the drone, and reduces the update of the drone controller while ensuring the excellent formation effect among multiple drones The number of times, prevent the phenomenon of controller performance attenuation, and promote the application and development of fire-fighting drones

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