Research On Multi-uav Formation Flight Control Based On Small-scale Quad-rotor Flight Vehicles

As an aircraft,multi-rotors UAV can vertical takeoff and landing,hovering,equipped with a variety of loads to do aerial photography,aerial survey,transport and delivery tasks.Now multi-rotors UAV has been widely used in various fields of civil and military.However,using a single UAV to perform tasks is limited,people begin to turn their attention to the cooperative application of uavs.So,based on the leader follower strategy,this paper design two type of quadrotors formation flight control algorithm,the first controller uses sliding mode control theory,another uses the highorder consistency theory.Then,this paper builds a formation control experiment system to do some flight experiment.In this paper,Firstly,without considering the interference conditions,based on the Newton Euler method,this paper deduces the dynamic model of quadrotors.Then Simplifies the model,established the fully actuated and underactuated subsystems of the dynamic model.Secondly,this paper designed two types of the formation controller based on sliding mode control theory and high-order consistency theory respectively.In order to achieve trajectory tracking control for a single quadrotor,this paper uses sliding mode controller and PID controller to control the quadrotor fully actuated and underactuated subsystems respectively.For formation controller,the first method use sliding mode control algorithm keep the expected distance between the leader quadrotor and follower quadrotor as constant value to achieve formation control.The second method is based on high-order consistency theory.In this methed,the control object is the quadrotor underactuated subsystem,used normalization method to normalization model,then based on simplified model,this paper design consistency protocol and the formation centroid position controller.This paper also use MATLAB Simulink for the simulation of the two kinds of controller.Finally,based on the Optitrack indoor positioning system,open source code quadrotors aircraft and other experimental devices,this paper build a formation flight control experimental system.Design a single quadrotors position controller and double quadrotors formation controller based on leader-follower strategy,and carry out hovering,trajectory tracking and formation flight control experiment,discuss and analyzed the experimental results which verified the effectiveness of the flight control experiment system design and reliability of formation control algorithm.