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

A multi-UAV and control method technology, applied in the direction of non-electric variable control, control/adjustment system, three-dimensional position/channel control, etc., can solve the problems of difficult reconstruction, poor formation control effect, and difficult formation maintenance, etc. problem, to achieve the effect of stable effect, good ring-shaped task formation assembly, and fast convergence speed
CN112596548AActive Publication Date: 2021-04-02NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Publication Date
2021-04-02

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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.
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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 ...

Claims

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