Research On Formation Flight Control Of UAV Based On Four-Rotor

The quadrotor,with small size,low cost and flexible mobility,is an important research direction in the field of unmanned aerial vehicles,which has attracted the attention of all around the countries,but also more and more attention by the academic community.Quadrotors with a simple structure,easy to control,reliable operation,high security features,can also carry a variety of shooting,communications and other equipments,have a great application prospects.With deeper research all over the world and gradual expansion of application areas,it is expected that UAV has the increasingly powerful function.A single UAV is no longer capable of the difficult and complex tasks,so in such a large environment,multi-UAV system comes into being.In recent years,scientists put forward the concept of unmanned aerial vehicle formation,initially for spacecraft,of course,this concept can also be applied to UAV formation.People have been inspired through a long period of research to analyze the social phenomenon of biological groups,and gradually found that the use of more unmanned aerial vehicles to make up for the lack of single UAV,but also to reduce the resistance,expand the flight itinerary,save fuel and other effects.This paper studies the four-rotor formation control,the purpose is to overcome the defects of a single four-rotor,the entire four-rotor formation can maximize the function through their coordination between each other.This topic is about the formation of four rotorcraft flight control.The main research contents are as follows: the working principle and composition of the four-rotor unmanned aerial vehicle,the design,experiment and simulation of the formation controller,and so on.To carry out the formation control of the four rotorcraft,on the basis of understanding the structure of the four rotor,the mathematical model is established,the formation control algorithm is designed and the flight control is completed.In this paper,the leader-follower formation control structure is adopted.Based on the construction of the four-rotor nonlinear model,the model predictive control method is used to solve the optimal control problem,so thatthe system control input is obtained.The differential evolution algorithm is used to optimize the solution in each rolling time domain.In order to verify the feasibility of the proposed algorithm,the experiment and simulation are carried out respectively.The results show that the design of the formation control theory has a good performance.