Multi-quadrotor unmanned aerial vehicle safe formation control method based on tracking differentiator

Abstract

The invention relates to a multi-quad-rotor unmanned aerial vehicle safe formation control method based on a tracking differentiator, and the method comprises the steps: constructing an asymmetric boundary preset performance controller independent of a formation error initial value, so as to obtain smooth and rapid formation transient performance; secondly, through a hyperbolic tangent tracking differentiator, the problem of'differential explosion 'of a traditional backstepping controller design method is avoided while a rapid and accurate differential control signal is obtained; and finally, an adaptive neural network interference estimator is adopted to realize accurate and efficient real-time estimation and compensation of the lumped disturbance. According to the design method, the problems of parameter uncertainty, external interference and transient performance deterioration in existing multi-quadrotor unmanned aerial vehicle safe formation control are solved, a continuous and stable formation configuration can be formed under the condition that the unmanned aerial vehicle is subjected to parameter uncertainty and external environment interference, and the safety of the unmanned aerial vehicle is improved. The robustness, high efficiency and safety of multi-quadrotor cooperative formation task execution are greatly enhanced.

Description

technical field [0001] The invention relates to a multi-quadrotor UAV safety formation control method based on a tracking differentiator, and belongs to the technical field of UAV cooperative formation flight. Background technique [0002] Multi-quadrotor cooperative formation means that multi-quadrotors maintain a predetermined spatial geometric topology and use global or local information interaction and sharing to form a multi-quadrotor system’s collaborative transcendence capability, providing effective support for performing complex tasks that cannot be performed by a single unit. s solution. Multi-quadrotors can use reasonable formation flight to replace soldiers to efficiently perform dangerous military tasks such as target detection and enemy information collection, and can also be used in civilian situations such as personnel search and rescue and mineral exploration in complex mountainous terrain environments, which can greatly make up for the single acquisition en...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a multi-quadrotor unmanned aerial vehicle safety formation control method based on a tracking differentiator, which adopts a new design and can overcome problems such as parameter uncertainty, external interference, and transient performance deterioration, and solve High-efficiency formation anti-jamming control problem of multiple quadrotor UAVs

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