拓扑切换下基于SO(3)的四旋翼时变编队跟踪控制

SO(3)-Based Time-Varying Quadrotor Formation Tracking Control Under Topology Switching

针对有向拓扑切换条件下的多四旋翼无人机时变编队跟踪控制问题,在领航-跟随策略下,利用局部邻居状态信息构造了性能约束下基于特殊正交群SO(3)的一致性控制协议。在该协议中,领航无人机的信息仅能提供给邻居无人机,且邻居无人机集合会发生变化。采用特殊正交群SO(3)空间中的旋转矩阵表征四旋翼的姿态,在此基础上设计姿态控制器,提高了编队控制的收敛速度。仿真实验表明,当有向拓扑切换的驻留时间大于固定阈值且满足时变编队跟踪控制可行性条件时,采用所设计控制律可使集群系统实现时变编队队形控制,验证了所提算法的有效性。

To solve the problem of time-varying quadrotor formation tracking control under the condition of directional topology switching a consensus control protocol based on special orthogonal group SO(3)under performance constraints is constructed by using the leader-follower strategy and local neighbors state information.In this protocol the information of the leader UAV can only be given to the neighbor UAVs and the set of neighbor UAVs will change.The rotation matrix in the special orthogonal group SO(3)space is used to characterize the attitude of the quadrotor and an attitude controller is designed based on this to accelerate the convergence of formation control.The experimental results show that when the dwelling time of switching the directional topology is greater than the fixed threshold and the feasibility conditions of time-varying formation tracking control are met the multi-UAV system can realize the time-varying formation control by using the designed control law which verifies the effectiveness of the proposed algorithm.