Formation Reconfiguration Control System of Quadrotor UAV Based on ADP and Obstacle Avoidance Mechanism

Abstract

The invention discloses a four-rotor unmanned aerial vehicle formation reconstruction control system based on ADP and obstacle avoidance mechanism, including: a limited-time comprehensive disturbance observer based on sliding mode, which estimates the external comprehensive disturbance, and simultaneously reflects it according to the disturbance estimation value design The cost function of uncertainty, tracking error and control quantity; the formation reconstruction controller based on ADP uses the neural network to approximate the optimal cost function and solve the optimal control law, and uses the potential energy function to complete the design of UAV collision avoidance items ; The finite-time attitude tracking controller based on the sliding mode performs stable response tracking control on the yaw angle, roll angle and pitch angle of the UAV attitude, and realizes the formation maintenance and formation transformation of the multi-UAV formation in the interference environment control. The present invention adopts the above-mentioned four-rotor UAV formation reconfiguration control system, realizes multi-UAV formation generation, maintenance and reconfiguration control under the influence of comprehensive disturbance, and ensures high-quality flight of UAVs.

Description

technical field [0001] The invention relates to the technical field of quad-rotor unmanned aerial vehicles, in particular to a formation reconfiguration control system of quad-rotor unmanned aerial vehicles based on ADP and obstacle avoidance mechanism. Background technique [0002] UAV is a powered aircraft that does not rely on the driver, only realizes autonomous flight based on aerodynamic force, or uses remote control and other devices to control the flight, which can be reused and carry various types of payloads. Due to its small size, low cost, strong flexibility and maneuverability, better survivability and good concealment, UAVs play 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 UAVs have gradually developed into high-speed mobile platforms with multi-purpose functions such as reconnaissance, electronic interference, an...

AI Technical Summary

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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