变结构三阶一致性无人机编队控制

Variable Structure Formation Control of Quadrotors Based on Third-Order Consensus Algorithm

对多无人机的编队飞行控制问题进行了研究,解决了多无人机编队构成并稳定飞行和编队内某无人机失事情况下其它无人机仍保持队形稳定飞行的问题。首先,基于图论设计编队通讯网络。其次,基于三阶一致性理论设计编队控制器,通过积分得到每架无人机的目标位置和速度。在编队内无人机失事情况下,设计变结构通讯网络,并给出编队通讯结构变化规则。仿真结果表明,上述控制方案能够保证多无人机迅速构成编队并稳定飞行,在编队内无人机失事情况下,能够保证其它无人机依旧按目标路径和编队形状稳定飞行。

The research of formation flight control of quadrotors was studied to solve the problem that the quadrotors form and maintain while one quadrotor in the formation crashed. First, the graph theory was used to design a formation communication network. Then, the third-order consensus theory was used to design the formation controller. The target position and velocity of each quadrotor would be obtained through integration. In the case of one quadrotor crashed in the formation, the variable structure communication network was designed. The rules for changing the communication network were given. The simulation results show that the control method above can ensure quadrotors form quickly and the formation maintains well while one quadrotor in the formation crashed.