Control architecture for autonomously splicing distributed multi-habitat spherical unmanned system

Abstract

The invention discloses a distributed multi-habitat spherical unmanned system autonomous splicing control architecture, which comprises a plurality of unmanned aerial vehicles, the plurality of unmanned aerial vehicles are spliced to form a spherical unmanned system, and a flight mode, an attitude control mode and a sphere rolling mode are realized in different splicing stages; the control architecture comprises a position controller based on nonlinear incremental dynamic inversion, an attitude controller based on a nonlinear geometric control theory and a hemispherical unmanned system rolling controller; the position controller is used for realizing accurate butt joint of the splicing mechanism of the unmanned aerial vehicle in an external visual positioning environment; the attitude controller is used for controlling the attitude of the unmanned aerial vehicle to reach 90 degrees, and the unmanned aerial vehicle is turned from a plane to a hemisphere; the hemispherical unmanned system rolling controller is used for controlling the hemisphere to roll in the direction where splicing is not completed, and splicing of the whole sphere is achieved. According to the control architecture, the connecting mechanisms of the unmanned aerial vehicles of all the subsystems are simplified, and meanwhile autonomous splicing control over the multiple unmanned aerial vehicles is achieved.

Description

technical field [0001] The invention relates to the technical field of rotor UAV and spherical robot control, in particular to a multi-machine cooperative control and large-angle attitude control framework of UAV. Specifically, it involves the cooperative control of multiple machines in multiple modes. Background technique [0002] The distributed multi-dwelling spherical unmanned system is an unmanned system with two structural modes: air flight mode and ground rolling mode. It is composed of multiple independent subsystem UAVs, each UAV is a quadrotor configuration and has the ability to perform tasks independently in the air; at the same time, they are equipped with electromagnetic adsorption devices, which can be connected to each other into a spherical shape, so that The system characterizes the motion properties of a sphere on the ground. Such a distributed combination structure has extremely broad application prospects in both military affairs and people's livelihoo...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem of large functional limitations of multi-dwelling unmanned systems, this invention adopts the concept of modular assembly and proposes a distributed multi-dwelling spherical unmanned system

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