Research On Formation Control Algorithm For Quadrotor

Multirotor unmanned aerial vehicle(UAV) is currently no matter in the field of scientific research and business all received unprecedented attention.The top laboratories of world-class universities' team such as MIT,UPenn,Beihang University,have done much scientific research on multirotor control methods and applications.UAV formation technology as sub-task of multi-robot cooperative control has great potential in UAV industry-level applications.Multi-multirotor formation flight has great advantanges in the cost,efficiency and functionality comparing with the the traditional ground robot,fixed wing UAV and even manned aircraft.In this paper,multirotor dynamic model and multi-agent cooperative control theory will be summarized and the main research contents in this thesis are as follows:Firstly,two unmanned aerial vehicle formation control protocols are proposed.The first one is a static formation control protocol.A nested saturation function is used to achieve leader-follower formation flight.The second one is a time-varying formation control protocol.The UAV is regarded as a point-mass system,and the dynamics of each UAV can be approximately described as a double integrator.In the following,the stability and consistency of the swarm formation system are analyzed.In this protocol,the formation problem is transformed into the consensus problem in the analysis process and the necessary constraints are given too.Secondly,to validate the effectiveness of the formation control protocol,the necessary simulation experiments are carried out for both protocols,and an appropriate objective function and related parameters are designed.The simulation experiment results are obtained.And the effectiveness of the formation control protocol is confirmed and the performance of the control algorithm is proved based on the ideal dynamic model.Thirdly,based on the theoretical analysis and numerical simulations,this paper introduces the dynamic simulation environment of multi-UAVs formation based on an open-source 3D engine(i.e.Irrlicht),which makes the results of formation simulation more intuitive and easier to visual analysis.Finally,to validate the second protocol further,a verification scheme for the formation control protocol using micro UAVs is proposed in this paper.An indoor formation control experiment is completed using micro UAVs(i.e.Crazyflie)under the Robot Operating System(ROS)frame cooperating with the motion capture system(i.e.Opti Track).