Quadrotor unmanned aerial vehicle formation anti-saturation flexible preset performance tracking control system
Patent Information
- Application Number
- CN202610449710.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-08
- Publication Date
- 2026-08-18
AI Technical Summary
然而，现有基于领航-跟随法的四旋翼无人机编队控制系统存在明显不足：四旋翼无人机的执行机构存在物理限制，控制输入极易出现饱和现象，传统控制方法未充分考虑输入饱和对编队控制性能的影响，导致饱和发生时系统稳定性下降、跟踪误差增大，甚至出现编队溃散的问题；
[0019]Beneficial Effects: Compared with the prior art, the present invention provides a quadrotor UAV formation anti-saturation flexible preset performance formation tracking control system, including a quadrotor UAV system module, a flexible preset performance technology module, a fuzzy system module, an adaptive law module, an anti-saturation formation controller design module, and a UAV actuator saturation module. The quadrotor UAV system module is the core input source, receiving UAV physical parameters, nonlinear dynamics, input saturation boundary, and external disturbance information, and outputting system state signals and input saturation error signals, which are then sent to the flexible preset performance technology module, the fuzzy system module, and the anti-saturation formation controller design module. The UAV actuator saturation module receives the control input signal output by the anti-saturation formation controller design module, outputs the saturated actual control input signal and the input saturation error signal, and feeds them back to the quadrotor UAV system module and the flexible preset performance technology module. The preset performance technology module receives the system status signal from the quadcopter UAV system module, the input saturation error signal from the UAV actuator saturation module, and the formation tracking error signal from the anti-saturation formation controller design module. It constructs a saturation-resistant flexible preset performance function and outputs dynamic performance boundary parameters and performance transformation auxiliary parameters to the anti-saturation formation controller design module. The anti-saturation formation controller design module, as the core control unit, receives the system status signal from the quadcopter UAV system module, the dynamic performance boundary parameters and performance transformation auxiliary parameters from the flexible preset performance technology module, the parameter adaptive law module, the reference trajectory signal of the lead UAV, and the formation expected offset signal. It designs a fuzzy adaptive backstepping control law with anti-saturation compensation based on the lead-follow strategy, outputs the formation tracking error signal to the flexible preset performance technology module, and outputs the control input signal to the UAV actuator saturation module. This invention accurately captures input saturation characteristics and feeds back errors through the saturation module of the UAV actuator. Combined with the anti-saturation compensation term in the anti-saturation formation controller design module, it directly offsets the adverse effects of input saturation on the formation system, solving the problems of decreased stability, increased tracking errors, and even formation collapse caused by input saturation in traditional formation control. At the same time, by introducing auxiliary signals through a flexible preset performance technology module, it achieves dynamic adjustment of performance boundaries, breaking through the limitation of fixed preset performance control boundaries in traditional systems. The performance boundaries can be flexibly expanded and restored according to the system's input saturation level and tracking error state, eliminating the conservatism problem caused by fixed boundaries and ensuring that the tracking error converges according to preset performance indicators. This achieves high-precision and high-stability tracking control of quadcopter UAV formations in input saturation scenarios, and all signals in the closed-loop system are bounded, significantly improving the robustness and engineering practicality of the formation control system.
Smart Images
Figure CN122593412A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of quadcopter drone formation control technology, specifically to a quadcopter drone formation anti-saturation flexible preset time performance tracking and control system. Background Technology
[0002] As mission complexity continues to increase, single quadcopter drones can no longer meet the demands of practical applications such as reconnaissance and surveillance, material transport, and collaborative operations. Multi-quadcopter drone formations, with their stronger robustness and higher execution efficiency, have become a research hotspot in this field. The leader-follower method is a commonly used formation control strategy. By setting a reference trajectory for the leader drone, follower drones track and maintain a preset formation, achieving multi-drone collaborative operations. However, existing quadcopter drone formation control systems based on the leader-follower method have significant shortcomings: the actuators of quadcopter drones have physical limitations, making control inputs prone to saturation. Traditional control methods do not fully consider the impact of input saturation on formation control performance, leading to decreased system stability, increased tracking errors, and even formation collapse when saturation occurs.
[0003] Traditional preset performance control methods have fixed performance boundaries, making it impossible to flexibly adjust according to the actual operating state of the system (such as input saturation level and changes in external disturbances). When input saturation conflicts with preset performance constraints, it is difficult to guarantee the feasibility of the control task, and they also suffer from drawbacks such as excessive conservatism and difficulty in intuitively observing convergence time. Therefore, designing a quadrotor UAV formation tracking control system that can effectively cope with input saturation and has flexible preset performance has become an urgent technical problem to be solved in the field of quadrotor UAV formation control. Summary of the Invention
[0004] Purpose of the invention: This application addresses the problem that existing solutions in the pilot-follower method for quadrotor UAV formation control do not consider the effects of input saturation and have fixed preset performance boundaries. By introducing an anti-saturation compensation mechanism, constructing flexible and adjustable preset performance constraints, and optimizing the control system, this invention achieves high-precision and high-stability tracking control of the formation under input saturation scenarios, ensuring that the closed-loop system signal is bounded and the tracking error converges according to the preset performance, thereby improving the engineering practicality and reliability of formation control.
[0005] Technical solution: This application provides a quadcopter UAV formation anti-saturation flexible preset performance tracking control system, characterized in that it includes: The quadcopter UAV system module is used to receive UAV physical parameters, input saturation boundary and external disturbance information, and output system status signal and input saturation error signal; The flexible preset performance technology module is used to receive system status signals, input saturation error signals and formation tracking error signals, and output performance boundary parameters and performance transformation auxiliary parameters. The fuzzy system module is used to receive the system state signal and output the fuzzy approximation result for the unknown nonlinear term of the system and external disturbances; An adaptive law module is used to receive the fuzzy approximation result and error feedback signal, and output the adjusted fuzzy weight estimate. The anti-saturation formation controller design module is used to receive standard model signals, performance boundary parameters, navigation reference trajectory and formation offset signals, and output formation tracking error signals and control input signals. The UAV actuator saturation module is used to receive control input signals and output the saturated actual control input signal and input saturation error signal.
[0006] A. Dynamics model of a quadrotor UAV In some embodiments, the characterization formula for the quadcopter drone system module includes: (considering a formation system consisting of 1 leader drone and N follower drones, the dynamic model of the i-th (i=1,2,…,N) follower drone is): ; in, It is the first The position of a quadcopter in an inertial coordinate system; It is the first The roll angle, pitch angle, and yaw angle of a quadcopter; It is the first The total lift of a quadcopter; Representing the first A quadcopter in Moments of inertia in three directions; It's about quality; It is the acceleration due to gravity; This refers to the air drag coefficient. These are the control torques in three directions of the body coordinate system; For external disturbances, satisfy ( Transform the dynamic model into its standard form: ; Among them, state , ; ; The first The j-th channel of the UAV is saturated with control input and output. For the system's nonlinear terms, This is an external disturbance.
[0007] B. Flexible preset performance technology modules A flexible preset performance function for anti-saturation is constructed. By introducing a non-negative auxiliary signal to adjust the preset time, the performance boundary can be flexibly expanded and recovered, which is characterized by the following formula: ; in, To allow for flexible pre-setting of performance functions, the function values are used as dynamic performance boundary parameters. The initial preset convergence time is... To adjust the convergence time, It is a non-negative auxiliary signal; Let these be the initial performance boundary parameters, satisfying... ( (for formation error) The steady-state performance boundary determines the final convergence accuracy of the formation error, and n is the performance decay order used to adjust the error convergence rate. Auxiliary signals. It is represented by the following formula: ; in, For the growth rate parameter, For saturation scale parameters, For decay rate parameters, This is saturation error. Switch parameters. It is represented by the following formula: ; in, To avoid collision zone, Let be the threshold parameter. The performance transition barrier function designed based on this is characterized by the following formula: ; in, This is the error signal for the formation of quadcopter drones.
[0008] C. Fuzzy System Module The fuzzy system module uses position and attitude angle information from the quadcopter system, employs adaptive parameters and fuzzy basis functions to identify and process unknown nonlinear dynamics, and then sends the information to the adaptive law module for further processing.
[0009] Using fuzzy logic system modules to handle nonlinear dynamics in attitude systems and composite smooth functions, characterized by the following formulas: ; in, Let be the system state vector. It is a fuzzy basis function vector. It is an ideal parameter vector. It is the approximation error vector. To estimate the error, This represents the estimated fuzzy weights.
[0010] D. Adaptive Law Module This module utilizes the quadcopter UAV system state information, fuzzy system module information, and flexible preset performance technology modules to generate a parameter adaptive law, and the output signal is... Its function is to reflect the dynamic changes of adaptive parameters in the controller, and these parameters are input into the anti-saturation formation controller design module. The characterization formulas of the adaptive law module include: ; in, ( These are some design parameters. This is the first performance conversion-related function.
[0011] E. Anti-saturation formation controller design module The anti-saturation formation controller design module is used to receive system status signals, input saturation error signals, dynamic performance boundary parameters, navigation reference trajectory and formation offset signals, combine the navigation-follow strategy and fuzzy adaptive backstepping method to design control laws, and output formation tracking error signals, control law design signals and final control input signals.
[0012] First, the formation error conversion of quadcopter UAVs is characterized by the following formula: ; Among them, if Then the first The quadcopter can receive information from the navigator; otherwise... If the first The quadcopter can receive the first Information about the quadcopter, ,otherwise . This is the formation offset signal. This indicates the navigator's expected output. Indicates intermediate controller, This represents the saturation compensation parameter. Its characterization formula is as follows: ; in, For the first Quadrotor UAV degree matrix, For design parameters, This is the second performance conversion related function.
[0013] The final design of the anti-saturation formation controller characterization formula includes:
[0014] in, These are design parameters.
[0015] F. Quadcopter Unmanned Actuator Saturation Module
[0016] The quadcopter actuator saturation module receives input signals from the anti-saturation formation controller design module and outputs the saturated actual control input signal and input saturation error signal to the quadcopter UAV system module.
[0017] In some embodiments, the characterization formula for the quadcopter UAV actuator saturation module includes:
[0018] in, and These are the known upper and lower saturation boundaries of the input.
[0019] Beneficial Effects: Compared with the prior art, the present invention provides a quadrotor UAV formation anti-saturation flexible preset performance formation tracking control system, including a quadrotor UAV system module, a flexible preset performance technology module, a fuzzy system module, an adaptive law module, an anti-saturation formation controller design module, and a UAV actuator saturation module. The quadrotor UAV system module is the core input source, receiving UAV physical parameters, nonlinear dynamics, input saturation boundary, and external disturbance information, and outputting system state signals and input saturation error signals, which are then sent to the flexible preset performance technology module, the fuzzy system module, and the anti-saturation formation controller design module. The UAV actuator saturation module receives the control input signal output by the anti-saturation formation controller design module, outputs the saturated actual control input signal and the input saturation error signal, and feeds them back to the quadrotor UAV system module and the flexible preset performance technology module. The preset performance technology module receives the system status signal from the quadcopter UAV system module, the input saturation error signal from the UAV actuator saturation module, and the formation tracking error signal from the anti-saturation formation controller design module. It constructs a saturation-resistant flexible preset performance function and outputs dynamic performance boundary parameters and performance transformation auxiliary parameters to the anti-saturation formation controller design module. The anti-saturation formation controller design module, as the core control unit, receives the system status signal from the quadcopter UAV system module, the dynamic performance boundary parameters and performance transformation auxiliary parameters from the flexible preset performance technology module, the parameter adaptive law module, the reference trajectory signal of the lead UAV, and the formation expected offset signal. It designs a fuzzy adaptive backstepping control law with anti-saturation compensation based on the lead-follow strategy, outputs the formation tracking error signal to the flexible preset performance technology module, and outputs the control input signal to the UAV actuator saturation module. This invention accurately captures input saturation characteristics and feeds back errors through the saturation module of the UAV actuator. Combined with the anti-saturation compensation term in the anti-saturation formation controller design module, it directly offsets the adverse effects of input saturation on the formation system, solving the problems of decreased stability, increased tracking errors, and even formation collapse caused by input saturation in traditional formation control. At the same time, by introducing auxiliary signals through a flexible preset performance technology module, it achieves dynamic adjustment of performance boundaries, breaking through the limitation of fixed preset performance control boundaries in traditional systems. The performance boundaries can be flexibly expanded and restored according to the system's input saturation level and tracking error state, eliminating the conservatism problem caused by fixed boundaries and ensuring that the tracking error converges according to preset performance indicators. This achieves high-precision and high-stability tracking control of quadcopter UAV formations in input saturation scenarios, and all signals in the closed-loop system are bounded, significantly improving the robustness and engineering practicality of the formation control system. Attached Figure Description
[0020] This invention has a total of appendices Figure 6 Zhang, of which:
[0021] Figure 1This is a schematic diagram of the structure of a quadcopter drone formation anti-saturation flexible preset performance tracking control system.
[0022] Figure 2 This is a 3D image of a quadcopter drone formation tracking.
[0023] Figure 3 It is a diagram of the formation error performance and flexible preset boundary trajectory of a quadcopter UAV.
[0024] Figure 4 It is a diagram showing the error performance and flexible preset boundary trajectory of a quadcopter UAV in formation.
[0025] Figure 5 This is a diagram showing the position control trajectory of a quadcopter drone formation.
[0026] Figure 6 This is a trajectory diagram of the attitude control of a quadcopter drone formation. Detailed Implementation
[0027] The invention will be further described below with reference to the accompanying drawings. The invention designs a quadcopter UAV formation tracking and control system with anti-saturation flexibility and preset performance. Its overall architecture is shown in Figure 1. The system consists of a quadcopter UAV system module (inputs are UAV physical parameters, nonlinear dynamics, input saturation boundary, and external disturbances; output is the system state signal). (Position / attitude angles and velocity / angular velocity) and input saturation error signal), flexible preset performance technology module (input is system status signal) Input saturation error signal, formation tracking error signal The output is the dynamic performance boundary parameters. Performance conversion barrier function First performance conversion related functions Second performance conversion related functions ), Fuzzy system module (input is system state signal) The output is the fuzzy approximation result. and fuzzy basis function vectors ), Adaptive Law Module (input is fuzzy approximation result and error feedback signal) The output is the adjusted fuzzy weight estimate. Anti-saturation formation controller design module (input is system status signal) Dynamic performance boundary parameters, performance transformation auxiliary parameters, fuzzy approximation results, and fuzzy weight estimates. Reference trajectory signal of the pilot drone Desired offset signal of formation The output is the formation tracking error signal. and control input signals ) and UAV actuator saturation module (input is control input signal) The output is the actual control input signal after saturation. and input saturation error signal The modules are collaboratively composed of the following components, forming a closed loop according to the following signal flow: The quadcopter UAV system module sends the state signal and saturation error signal to the flexible preset performance module, the fuzzy system module, and the anti-saturation controller module, respectively; the actuator saturation module feeds back the actual control input to the quadcopter UAV system module and feeds back the saturation error to the flexible preset performance module and the anti-saturation controller design module; the flexible preset performance module sends the performance boundary and transformation parameters to the anti-saturation controller module; the fuzzy system module sends the approximation result and basis function to the adaptive law module and the anti-saturation controller design module; the adaptive law module feeds back the updated weight estimate to the anti-saturation controller design module; the anti-saturation controller design module sends the formation error back to the flexible preset performance module and sends the control input to the actuator saturation module. The signal interaction and functional implementation of each module are as follows:
[0028] The quadcopter UAV system module is the core input source of the control system. It receives information on the UAV's physical parameters, nonlinear dynamics, input saturation boundaries, and external disturbances. After dynamic modeling and state calculation, it outputs the system state signal. The initial input saturation error signal is sent to the flexible preset performance technology module, the fuzzy system module, and the anti-saturation formation controller design module. At the same time, it receives the actual control input signal after saturation from the UAV actuator saturation module. Complete the closed-loop state update.
[0029] The UAV actuator saturation module receives the control input signal from the anti-saturation formation controller design module, processes it through a saturation function, and outputs the saturated actual control input signal. The feedback is sent to the quadcopter UAV system module; simultaneously, the input saturation error signal is calculated. The feedback is sent to the quadcopter UAV system module and the flexible preset performance technology module to provide a basis for anti-saturation compensation and performance boundary adjustment.
[0030] The flexible preset performance technology module receives system status signals from the quadcopter UAV system module. Input saturation error of the UAV actuator saturation module And the formation tracking error signal of the anti-saturation formation controller design module. A flexible preset performance function to resist saturation is constructed, and the performance boundary is dynamically adjusted through auxiliary signals to output dynamic performance boundary parameters. and performance transformation auxiliary parameters ( , , ) to the anti-saturation formation controller design module.
[0031] The fuzzy system module receives system status signals from the quadcopter UAV system module. Fuzzy approximation is performed on the unknown nonlinear and coupling terms of the system, and the fuzzy approximation results are output. The adaptive law module and the anti-saturation formation controller design module provide support for adaptive compensation and control law design.
[0032] The adaptive law module receives the fuzzy approximation result from the fuzzy system module and combines it with the error feedback signal from the anti-saturation formation controller design module. ), dynamically adjust the fuzzy weight estimate The updated weight parameters are then fed back to the anti-saturation formation controller design module to achieve adaptive compensation.
[0033] The anti-saturation formation controller module is the core control unit of the system, which comprehensively receives system status signals from the quadcopter UAV system modules. The performance boundaries and auxiliary parameters of the flexible preset performance technology module, and the fuzzy weight estimation values of the adaptive law module. Simultaneously receive the reference trajectory signal of the navigation drone. and formation expected offset signal This module constructs formation tracking error based on a pilot-follow strategy. and speed tracking error By combining fuzzy adaptive and backstepping methods, a control law with anti-saturation compensation is designed to output the formation tracking error signal. The flexible preset performance technology module outputs control input signals. To the saturation module of the drone actuator.
[0034] The design objective of this invention is to enable the follower drone to accurately track the desired trajectory of the lead drone and maintain a preset formation, while ensuring that the position and attitude tracking errors meet flexible preset performance constraints (i.e., This ensures that all signals in the closed-loop system are bounded under input saturation scenarios, enabling high-precision and high-stability tracking control of the formation.
[0035] Simulation results are as follows Figure 2-6 As shown, the effectiveness of the control system of the present invention is verified, and all signals of the formation system are bounded. Figure 2 The three-dimensional trajectory curve for quadcopter UAV formation tracking (leader UAV0 is dotted line, follower UAV1 is solid line, and UAV2 is dashed line) shows that accurate formation tracking can still be achieved even in input saturation scenarios. The error converges rapidly within 10 to 40 seconds and eventually stabilizes to the target formation. Figure 3 , 4The tracking error and dynamic performance boundary curves of UAV formation are shown. The tracking error is always within the performance boundary. When saturation occurs, the boundary expands adaptively and gradually recovers after saturation elimination. Figure 5 and 6 The input curves for the position and attitude control of the quadcopter UAV are shown respectively. The control signal design is reasonable, the actual input fits the physical limitations of the actuator, and the anti-saturation compensation effect is significant.
[0036] This application has provided a detailed description of a quadcopter UAV formation anti-saturation flexible preset performance formation tracking control system provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A quadcopter UAV formation anti-saturation flexible preset performance tracking control system, characterized in that, include: The quadcopter UAV system module is used to receive UAV physical parameters, nonlinear dynamics, input saturation boundary and external disturbance information, and output system status signal and input saturation error signal; A flexible preset performance technology module is used to receive the system status signal, the input saturation error signal, and the formation tracking error signal, and output dynamic performance boundary parameters and performance transformation auxiliary parameters. The performance transformation auxiliary parameters include a performance transformation barrier function and a performance transformation correlation function. The fuzzy system module is used to receive the system state signal and output the fuzzy approximation result for the unknown nonlinear term of the system and external disturbances; An adaptive law module is used to receive the fuzzy approximation result and error feedback signal, and output the adjusted fuzzy weight estimate. The anti-saturation formation controller design module is used to receive the system state signal, the dynamic performance boundary parameters, the performance transformation auxiliary parameters, the fuzzy approximation result, the fuzzy weight estimate, the navigation UAV reference trajectory signal, and the formation expected offset signal, and output the formation tracking error signal and the control input signal; The UAV actuator saturation module is used to receive the control input signal and output the saturated actual control input signal and input saturation error signal to form a formation control closed loop.
2. The quadcopter UAV formation anti-saturation flexible preset performance tracking control system according to claim 1, characterized in that, The characterization formula for the quadcopter unmanned aerial vehicle system module includes: ； in, It is the first The position of a quadcopter in an inertial coordinate system; It is the first The roll angle, pitch angle, and yaw angle of a quadcopter; It is the first The total lift of a quadcopter; Representing the first A quadcopter in Moments of inertia in three directions; It is the first The mass of a quadcopter; It is the acceleration due to gravity; This refers to the air drag coefficient; These are the control torques in three directions of the body coordinate system; For external disturbances, satisfy , , Corresponding to each other in turn , Indicates external disturbance The upper limit; The standard form of the dynamic model of a quadcopter UAV is represented as follows: ； Among them, the position and attitude angle state quantities of the i-th UAV in the j-th channel. The velocity and angular velocity state quantities of the i-th UAV in the j-th channel ; The control input to be designed for the i-th UAV on the j-th channel ； in, For the first The j-th channel of the UAV is saturated control input. For the first The j-th channel of the UAV is saturated with control output. For the system's nonlinear terms, This is an external disturbance.
3. The quadcopter UAV formation anti-saturation flexible preset performance tracking control system according to claim 2, characterized in that, The formula for characterizing the flexible preset performance technology module is: ； in, To allow for flexible pre-setting of performance functions, the function values are used as dynamic performance boundary parameters. The initial preset convergence time is... To adjust the convergence time, It is a non-negative auxiliary signal; Let these be the initial performance boundary parameters, satisfying... ,in This is for formation error; The steady-state performance boundary determines the final convergence accuracy of the formation error, and n is the performance decay order, used to adjust the error convergence rate. auxiliary signal It is represented by the following formula: ； in, For the growth rate parameter, For saturation scale parameters, For decay rate parameters, This is the saturation error; Switch parameters It is represented by the following formula: ； in, To avoid collision zone, Here, R represents the threshold parameter, and R represents the set of real numbers. The flexible preset performance technology module also constructs the following performance conversion barrier function: ； in, This is the error signal for the formation of quadcopter drones.
4. The quadcopter UAV formation anti-saturation flexible preset performance tracking control system according to claim 3, characterized in that, The fuzzy system module uses the following fuzzy logic system to approximate the unknown nonlinear term: ； in, Let be the system state vector. It is a fuzzy basis function vector. It is an ideal parameter vector. It is the approximation error vector. To estimate the error, This represents the estimated fuzzy weights.
5. The quadcopter UAV formation anti-saturation flexible preset performance tracking control system according to claim 4, characterized in that, The adaptive law module employs the following dual-channel adaptive update law: ； in, These are adaptive law design parameters. , This is the first performance conversion related function. For speed tracking error signal, , Let be the fuzzy basis function vectors for the two channels. , Fuzzy weight estimates for the two channels.
6. The quadcopter UAV formation anti-saturation flexible preset performance tracking control system according to claim 5, characterized in that, The error transformation of the quadcopter UAV anti-saturation formation controller design module is characterized by the following formula: ； Among them, if the first If a drone can receive information from the navigator, then the navigator can communicate with the drone. ,otherwise If the first The quadcopter can receive the first Information from the quadcopter indicates that the neighbor can communicate. ,otherwise ; For the first The expected offset of a drone relative to the navigator's formation. This indicates the expected output trajectory of the pilot drone; Indicates intermediate controller, Indicates the saturation compensation parameter. Let be the set of communicable neighbors of the i-th drone; The formulas for characterizing the intermediate controller and saturation compensation parameters of the quadcopter UAV anti-saturation formation control module are as follows: ； in, For the first Quadrotor UAV degree matrix, Design parameters for the intermediate controller. This is the second performance conversion related function; The anti-saturation formation controller of the quadcopter UAV anti-saturation formation control module is characterized by the following formula: ； in, Design parameters for anti-saturation formation controller This is a fuzzy adaptive term.
7. The quadcopter UAV formation anti-saturation flexible preset performance tracking control system according to claim 2, characterized in that, The saturation module of the quadcopter UAV actuator adopts the following saturation function: ； in, and They are the known first The first drone The channel actuator is saturated at the upper and lower boundaries.
8. The quadrotor UAV formation anti-saturation flexible preset performance tracking control system according to any one of claims 3 to 7, characterized in that, All signals in the closed-loop system are bounded, and the formation tracking error... Always satisfied And within the preset convergence time Converging to the steady-state performance boundary Inside.