Research On Formation Control Of Quadrotor Based On Pixhawk Flight Controller In Vicon Motion Capture System

In this paper,the research on leader-follower formation control algorithm to solve formation problem of quadrotor by using Pixhawk flight controller is studied in Vicon motion capture system.The attitude control is one of the core contents of the control of quadrotor,and also is the basis and premise of the formation control of the quadrotor.Attitude estimation algorithm is a key part of the feedback control of the quadrotor,which provides the accuracy attitude measurement data for the attitude control.According to the train of thought,firstly,according to the conditions and characteristics of Vicon system and Pixhawk flight controller respectively,the system platform for the development of quadrotor is constructed,which is used to simplify the development and debugging process of quadrotor.Secondly,the kinematics model of quadrotor is established on the basis of the quadrotor flight principle and Newton-Euler formula.The method that Vicon motion capture system participates in attitude estimation in Pixhawk flight controller is considered.Besides,the attitude calculation and the update of attitude information are carried out by quaternion method.The attitude controller of quadrotor based on PID algorithm and the PID position controller with damping parameters are designed.The damping parameters are used to ensure the sensitivity of the quadrotor to capture the variation of the reference trajectory.Thirdly,sliding model control(SMC)for formation flight is used,and an appropriate velocity filter with weight is designed to reduce the mutation of the follower's speed for improving the ability of disturbance rejection of formation flight.Finally,the experimental results of attitude control,position control and formation control of quadrotor are carried out by using the system platform that has been established.The experimental results verify the correctness and effectiveness of the methods mentioned above.