A formation tracking control method for quadrotor aircraft

Abstract

The invention discloses a four-rotor aircraft formation tracking control method. The invention firstly proposes a layered control framework for the formation control of unmanned aerial vehicles. The upper layer cooperative control layer and the lower layer tracking control layer. Consistency theory designs a collaborative algorithm, which can obtain the virtual speed and virtual position of the UAV; the tracking control layer designs a tracking control algorithm based on the PID theory, so that the real position and real speed of the UAV can be tracked to the virtual position and virtual speed respectively. UAVs to achieve the desired formation form. The control method adopted in the present invention can realize the formation of multiple unmanned aerial vehicles more quickly, and the convergence time is not affected by the initial state of the unmanned aerial vehicles.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a formation tracking control method of a quadrotor aircraft. Background technique [0002] Multi-quadcopter UAV systems have been widely used in various fields, such as agricultural plant protection, aerial photogrammetry and emergency rescue. Compared with single quadrotor UAVs, multi-quadcopter systems show some advantages, higher fault tolerance, better flexibility and higher efficiency when performing some complex and dangerous tasks. What's more, the multi-quadcopter system has a broad exploration field and can carry more equipment, playing an important role in both military and civilian applications. Multi-UAV distributed cooperative control has always been a research hotspot in the field of swarm intelligence. In some complex or dangerous situations, such as reconnaissance strike, disaster area rescue and target search, so far, most UAV formations have em...

AI Technical Summary

Problems solved by technology

Distributed cooperative control of multi-UAVs has always been a research hotspot in the field of swarm intelligence. In some complex or dangerous situations, such as reconnaissance and strikes, rescue in disaster areas, and target search, however, so far, most of the UAV formations that have appeared They are all controlled by centralized ground stations. UAVs do not have the ability to make decisions independently. Once the central control computer has a problem, all UAVs will not be able to fly.

In addition, due to its complex dynamics and high coupling of control parameters, multi-quadrotor UAVs pose certain challenges to the coordinated formation control of multi-UAVs.

However, most of the existing control algorithms are stable in infinite time, the convergence rate, anti-interference and robustness need to be improved, and the convergence time is also affected by the initial state of multiple UAVs.

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