UAV Formation Control Algorithm Based On Information Consistency Theory

In recent years,unmanned aerial vehicles in the field of military and civilian have been developed by leaps and bounds,but due to their own load,battery life,processing power and economic costs and other restrictions,a single UAV can complete the task is very limited.So the use of multiple unmanned aerial vehicles to work together has become a hot research.Among them,the formation algorithm based on information consistency theory has become an important branch of formation control algorithm because of its low computational cost,good real-time performance and excellent system robustness.However,how to apply the formation control algorithm to the actual flight is still an urgent problem to be solved.In this paper,a series of flight tests are carried out on the formation control algorithm based on information consistency theory,and the reliability of formation control algorithm is verified by using four-rotor UAV as flight platform.This paper first introduces the flight principle of the four-rotor UAV,establishes a complete kinematics and dynamics model,and designs a cascade PID position controller for a single UAV.Lay the foundation for formation control.Then the formation control algorithm based on information consistency theory is designed,and its stability in the presence of delay condition is proved.In order to carry out the safety considerations during flight formation,the algorithm of collision avoidance and obstacle avoidance of UAV is designed by artificial potential field method,and the artificial field method is improved and the real time of the algorithm is improved.Finally,the outdoor flight test was carried out by using the "Matrix M-100" unmanned aerial vehicle produced by DJI.The flight data were analyzed by the process of formation control,track control and delay control.The stability of formation control algorithm.