基于一致性理论的多旋翼飞行器编队控制方法

Multi-rotorcraft formation control method based on consistency theory

针对多架旋翼飞行器敏捷编队控制的问题,提出一种基于一致性理论的多旋翼飞行器编队控制方法。首先,通过图论的方法构建了飞行器编队的通讯拓扑结构,建立了平移和旋转动力学模型,利用有向图表示编队中个体和个体之间的作用关系。其次,结合拓扑学中的图论和传统控制方法,给出了一种包含位置控制和姿态控制的分布式编队控制器设计思路,用于实现期望编队轨迹的跟踪和飞行器姿态稳定。最后,以三架旋翼飞行器为例,设计了空间编队控制器。数学仿真结果表明,该控制方法可以实现对期望的飞行轨迹的跟踪,并使无人机组保持指定的编队状态,验证了该方法的可行性和有效性。

In order to realize agile multi-rotorcraft formation control,a formation control method based on the consistency theory is proposed.Based on the graph theory,the communication topology of the formation flying vehicles is constructed,and the translational and rotational dynamic models are established.By using directed graph to represent the interaction between individuals in a formation,and by combining graph theory and traditional control method in the topology,a distributed formation controller including position control and attitude control is presented for achieving desired formation trajectory tracking and attitude stabilization.Taking three rotorcraft as an example,a formation controller is designed and simulated.The results show that the control method can track the desired flight path and keep the UAV in the assigned formation state,which proves the feasibility and effectiveness of the method.