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High-rise fire-fighting multi-unmanned aerial vehicle sliding-mode tracking control method and system under unknown disturbance

A tracking control, multi-UAV technology, applied in the control/regulation system, non-electric variable control, vehicle position/route/altitude control, etc., can solve the stability and performance degradation of UAV swarms and the hidden dangers of high-level fire rescue. , UAV communication discontinuity and other problems, to achieve the effect of achieving coordinated and stable flight, eliminating influence and reducing energy consumption

Active Publication Date: 2021-06-11
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In addition, the smoke and dust, strong convection and high temperature that exist during the coordinated flight of multiple UAVs are likely to cause discontinuous communication between UAVs.
[0005] In a complex fire scene environment, the external disturbances encountered during the coordinated flight of firefighting drones are more severe than in the normal environment, resulting in a decline in the stability of the entire drone cluster, and even affecting the stability of the entire drone cluster system , thus causing unpredictable hidden dangers to the safety of high-rise fire rescue

Method used

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  • High-rise fire-fighting multi-unmanned aerial vehicle sliding-mode tracking control method and system under unknown disturbance
  • High-rise fire-fighting multi-unmanned aerial vehicle sliding-mode tracking control method and system under unknown disturbance
  • High-rise fire-fighting multi-unmanned aerial vehicle sliding-mode tracking control method and system under unknown disturbance

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Embodiment 1

[0061] In a typical embodiment of the present invention, such as figure 1 As shown, an adaptive sliding mode tracking control method for high-level firefighting multi-UAVs under unknown disturbance is proposed, which includes the following steps:

[0062] S1: Establish a mathematical model of the nominal system of high-rise fire-fighting UAVs under disturbance conditions;

[0063] S2: Determine the network communication topology between each UAV during the UAV swarm tracking control process;

[0064] S3: For the i-th following UAV nominal system, define the appropriate consistent position tracking error and consistent velocity tracking error;

[0065] S4: Based on the event trigger function and adaptive sliding mode control theory, a new type of sliding mode surface is designed. Based on this, an adaptive sliding mode tracking control law for a single fire-fighting UAV under unknown disturbance is constructed to eliminate the impact of external disturbance on no The impact o...

Embodiment 2

[0126] This embodiment provides a multi-UAV adaptive sliding mode tracking control system under unknown disturbance, including:

[0127] The first module is used to establish the mathematical model of the nominal system of the UAV under the disturbance situation;

[0128] The second module is used to determine the network communication topology between the UAVs during the UAV swarm tracking control process;

[0129] The third module is used to determine the collaborative consistency position tracking error and the collaborative consistency speed tracking error for the i-th following UAV nominal system according to the network communication topology;

[0130] The fourth module is used to determine the distributed integral sliding mode surface, and construct the adaptive sliding mode tracking control law of a single UAV under unknown disturbance, so as to control the position and speed of the following UAV to track the leading UAV.

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Abstract

The invention discloses a high-rise fire-fighting multi-unmanned aerial vehicle sliding mode tracking control method and system under unknown disturbance. The method comprises the following steps: establishing an unmanned aerial vehicle nominal system mathematical model under a disturbance condition; determining a network communication topological structure among the unmanned aerial vehicles in the unmanned aerial vehicle cluster tracking control process; for the ith following unmanned aerial vehicle nominal system, determining a collaborative consistency position tracking error and a collaborative consistency speed tracking error according to a network communication topological structure; and determining a distributed integral sliding mode surface, and constructing an adaptive sliding mode tracking control law of the single unmanned aerial vehicle under the unknown disturbance, and controlling the position and speed of the following unmanned aerial vehicle for tracking a pilot unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle tracking control, and in particular relates to a sliding mode tracking control method and system for high-level fire-fighting multi-unmanned aerial vehicle under unknown disturbance. Background technique [0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] The current urbanization process is getting faster and faster, the city's congestion, the scale and height of building groups are constantly breaking records, and the number of high-rise buildings over 100 meters is gradually increasing. However, in the event of fire and other fire-fighting problems, traditional fire trucks are faced with the problems of "not being able to reach, get in, deploy, and fire accurately". Restricted, it is difficult for firefighters to work at heights and the top of the fire truck's boom is unstable...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104Y02T10/40
Inventor 姚得银鲁仁全李鸿一曹亮任鸿儒
Owner GUANGDONG UNIV OF TECH
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