Multi-unmanned aerial vehicle sliding mode formation control method based on median deviation

A technology of multiple drones and control methods, applied in non-electric variable control, control/regulation systems, three-dimensional position/channel control, etc., to achieve the effects of improving synchronization performance, avoiding response lag, and reducing complexity

Pending Publication Date: 2021-11-09
ZHEJIANG SCI-TECH UNIV
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide the present invention relates to a multi-UAV sliding mode formation control method based on the median deviation, which converts the formation stability control of the UAV into the synchronous control of the motion state, and proposes a The value deviation synchronization control strategy is combined with the sliding mode variable structure control to deal with the parameter uncertainty and external complex disturbances in the formation system, and realize the robust formation control problem of multi-UAVs

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  • Multi-unmanned aerial vehicle sliding mode formation control method based on median deviation
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  • Multi-unmanned aerial vehicle sliding mode formation control method based on median deviation

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Embodiment 1

[0069] Embodiment 1, a flow diagram of a multi-UAV sliding mode formation control method based on the median deviation, such as figure 1 As shown, the implementation process of a multi-UAV sliding mode formation control method based on the median deviation of the present invention includes the following steps:

[0070] Step S101 The formation constraints of the multi-UAV cluster and the UAV model with uncertainty include:

[0071] 1) In order to better illustrate the synchronization of UAVs, the formation constraints of UAV formations are described below. The formation constraint formation is described by the general ellipsoid equation, and the parameter equation is as follows:

[0072]

[0073] In the formula, Q i Represents the position of UAV i, i∈1,2,3,...,n; (x 0 ,y 0 ,z 0 ) is the center point of the ellipsoid; a, b, c (a>0, b>0, c>0) are respectively the major semi-axis, middle semi-axis and minor semi-axis of the ellipsoid according to their size; (x i ,y i ,...

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Abstract

The invention discloses a multi-unmanned aerial vehicle sliding mode formation control method based on median deviation, which comprises the steps of establishing a formation constraint condition of n unmanned aerial vehicle clusters and an unmanned aerial vehicle model with uncertainty, and then defining a position tracking error ed, i (t), a synchronization error ei, i + 1 (t), a median deviation ei, m (t) and the position coupling error Ei (t) of the unmanned aerial vehicle clusters according to the formation constraint condition, giving a formation control target of the n unmanned aerial vehicle cluster, then establishing a position coupling error sliding mode controller of the n unmanned aerial vehicle cluster in combination with a sliding mode surface of the position coupling error, so as to obtain PWM pulse width modulation signals required for controlling the rotating speed of motors on all the unmanned aerial vehicles, and then sending the PWM pulse width modulation signals to electronic speed regulators of all the unmanned aerial vehicles, and then driving motors on the unmanned aerial vehicles to rotate, and achieving formation control of the n unmanned aerial vehicle cluster.

Description

technical field [0001] The invention relates to the technical field of UAV control, in particular to a multi-UAV sliding mode formation control method based on median deviation. Background technique [0002] Due to its low cost, high flexibility, and strong concealment, UAVs have been widely used in military and civilian fields, such as battlefield reconnaissance and surveillance, agricultural plant protection, and logistics transportation. UAVs face many limitations in the transportation of goods, such as their limited load, limited flight distance, and low delivery time in complex environments. The coordinated formation of UAVs can effectively solve the above problems. The use of formation transportation can freely match the number and formation of UAVs according to the weight and volume of the transported items, so as to achieve accurate loading. Therefore, it is necessary to study the cooperative formation transportation of multi-UAVs. [0003] In the process of UAV f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 李乐宝葛正
Owner ZHEJIANG SCI-TECH UNIV
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