基于输出反馈的四旋翼飞行器分布式编队控制

Distributed Formation Control of Quad-rotor Based on Output Feedback

研究了具有有向通讯拓扑的多四旋翼飞行器的分布式编队控制问题。首先建立四旋翼动力学模型,并利用非线性变换将建立的动力学模型转化为双积分器模型。然后将四旋翼飞行器编队看作是由多个子系统构成的关联系统,并通过关联系统的镇定实现编队控制。针对四旋翼飞行速度难以准确实时测量的问题,设计了降维状态观测器实现速度估计,并在此基础上设计了分布式编队控制器。当通讯拓扑满足基本的生成树条件时,通过保证每个子系统的稳定性进而保证整个关联系统的稳定性,从而实现编队控制目标。最后,利用物理实验平台验证了控制算法的有效性。

This paper studies the distributed formation control problem of quadrotors with directed communication topology.A dynamical model of quadrotors is developed and then transformed into a double integrator through nonlinear transformation.Then,the formation of quadrotors is considered as an interconnection of several subsystems,each of which corresponds to one quadrotor,and the formation control objective is achieved by stabilizing the interconnected system.For practical implementation,in our problem setting,the velocities of the quadrotors are not measurable,and reduced-order observers are designed for speed estimation.Observer-based distributed controllers are designed for formation control.It is proved that,if a standard spanning tree condition is satisfied,then the stability of the interconnected system is guaranteed and the formation control objective is achieved.Physical experiments are employed to verify the effectiveness of the theoretical design.