Multi-unmanned-aerial-vehicle consistency formation control method in annular task mode

Abstract

The invention discloses a multi-unmanned-aerial-vehicle consistency formation control method in an annular task mode, and the method comprises the steps: decoupling a formation control instruction foran annular task scene, building a coordinate system conversion relation under an annular task, introducing task target information, and achieving the precise expression and quick updating of a position state in an annular task process; and designing a multi-aircraft formation consistency control algorithm in an annular task mode, and establishing a consistency formation controller so as to ensurethe collaborative consistency of the multi-aircraft formation in three levels of time, space and phase angle and realize accurate control. According to the invention, corresponding stand-alone instruction generators can be formed according to the characteristics of various unmanned aerial vehicles, so as to meet the requirements of accurate formation control of different types or different controllers of unmanned aerial vehicles under an annular task, and ensure the expandability of the formation controller and the good universality of a closed-loop system; and the method has good effects inrapidity, stability and accuracy in an annular task mode, and has certain robustness.

Description

technical field [0001] The invention belongs to the technical field of multi-agent control, and in particular relates to a multi-unmanned aerial vehicle consistent formation control method in a circular task mode. Background technique [0002] With the continuous improvement of endurance, intelligence level and control effect, drones are widely used in various practical scenarios due to their high flight performance and strong environmental adaptability. However, in some complex task modes, due to its own limitations, the stand-alone machine is less effective in completing the task and even has a high probability of causing the task to fail. As a result, many experts and scholars have conducted research on multi-UAV formation flight, and proposed a variety of formation control strategies and control methods. On the basis of maximizing the effectiveness of single-machine missions, they have expanded to multi-machine interactive environments. Efficient, safe and stable tasks ...

AI Technical Summary

Problems solved by technology

[0003] However, the circular mission mode brings more difficulties to the formation control because of its circular flight characteristics

First of all, the yaw angle of the UAV is changing every moment, so that the problem of formation flick due to the delay of communication or formation algorithm solution under the control of long wingman will gradually enlarge, making it difficult to maintain formation; Secondly, most UAV formations achieve formation stability by maintaining the relative distance in the formation coordinate system, but in the circular mission mode, the difficulty of solving the relative coordinate position information will have a huge impact on formation maintenance; in addition, if the assembly process Defining a circular formation formation, it is easy to fall into the local optimal formation position, and cannot converge to the target position to form a formation

Most advanced control algorithms and optimization strategies are relatively ineffective in the circular formation task mode

Therefore, if the formation control strategy is not changed, the formation control algorithm is improved, and the formation controller is designed for the circular task mode, it will make it difficult for the UAV formation to assemble, maintain the formation, and achieve reconstruction in the circular task mode.

[0004] To sum up, the formation control effect in the circular task mode in the prior art is poor, and the formation control algorithm for this task is lacking, which cannot meet the requirements for the assembly, maintenance and reconstruction of the UAV formation formation, and it is difficult to ensure the closed loop The stability and robustness indicators of the system meet the requirements

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