Four-rotor unmanned aerial vehicle formation reconstruction control system based on ADP and obstacle avoidance mechanism

Abstract

The invention discloses a quad-rotor unmanned aerial vehicle formation reconstruction control system based on an ADP and an obstacle avoidance mechanism, and the system comprises a finite time comprehensive disturbance observer based on a sliding mode, which carries out the estimation of the external comprehensive disturbance, and designs a cost function which reflects the uncertainty, tracking errors and controlled quantity at the same time according to a disturbance estimation value; an ADP-based formation reconstruction controller approximates an optimal cost function through a neural network and solves an optimal control law, and a potential energy function is adopted to complete collision avoidance item design of the unmanned aerial vehicle; and the finite time attitude tracking controller based on the sliding mode performs stable response tracking control on the yaw angle, the rolling angle and the pitch angle of the attitude of the unmanned aerial vehicle, and realizes formation keeping and formation transformation control of the multi-unmanned aerial vehicle formation in the interference environment. By adopting the quad-rotor unmanned aerial vehicle formation reconstruction control system, formation generation, maintenance and reconstruction control of multiple unmanned aerial vehicles under the influence of comprehensive disturbance is realized, and high-quality flight of the unmanned aerial vehicles is ensured.

Description

technical field [0001] The invention relates to the technical field of quadrotor UAVs, in particular to a quadrotor UAV formation reconfiguration control system based on ADP and obstacle avoidance mechanism. Background technique [0002] Unmanned aerial vehicle (UAV) is a reusable powered aircraft that can carry various types of payloads without relying on the driver, only based on aerodynamics to achieve autonomous flight or use remote control and other devices to control the flight. Due to its small size, low cost, strong flexibility and maneuverability, better survivability and good concealment, UAVs are playing an increasingly important role in military warfare and civil activities. In recent years, breakthroughs have been made in the field of artificial intelligence and computer research, and military drones have gradually developed into high-speed mobile platforms with multiple purposes such as reconnaissance, electronic interference, and target strikes. At the same t...

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Problems solved by technology

[0003] As a typical underactuated system, quadrotor UAV needs to use four control inputs to control the output of six degrees of freedom. At the same time, the characteristics of nonlinearity, multivariability, strong coupling characteristics and susceptibility to external interference make the design of flight controller very difficult

The shortcomings of ADP control are mainly manifested in the fact that the controller parameters are generated according to the learning of the system state, so the convergence speed is low and the amount of calculation is large. However, with the further development of computer technology, it is very meaningful to study as an effective control system.

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