Research On Distributed Formation Control Technology Of Multi Rotor Aircraft

With the development of modern computer and communication technology,the ability of the aircraft to execute the task has been enhanced,but it is also urgent to improve the ability and efficiency of completing more complex tasks.Multi-aircraft formation can significantly improve these capabilities.The distributed consensus algorithm based on communication technology to transfer neighbor information has been applied to solve the problem of distributed formation control and aggregation of multi-vehicle.In recently years,micro aircraft has developed rapidly.The micro UVA especially four rotor aircraft can be used as an experimental platform for research on navigation guidance and distributed cooperative control.In this paper,based on the research of the distributed consensus algorithm through neighbor information,the distributed formation control algorithm is designed for multi rotor aircraft.The four rotor aircraft platform is designed through embedded software and hardware.The flight experiment of distributed formation control is carried out using the high precision indoor location information provided by the motion capture system.In this paper,the mathematical model of the four rotor aircraft is established by analyzing the motion and forces of the four rotor aircraft,and the algebraic graph theory is added to describe the mathematical description of the communication between the four rotor aircrafts,and using MATLAB software to design the simulation program.Then,a control algorithm is designed for a single four rotor aircraft to stabilize its attitude,and a Simulink program is designed to verify the algorithm.On the basis of the stable control of a single four rotor aircraft,graph theory knowledge is used to establish the connection between the multi aircraft.The distributed consensus algorithm with neighbor information is used to design distributed formation control algorithm for the system of multi four rotor aircrafts.A Simulink program is also designed to verify the formation control algorithm.The embedded computer platform and hardware equipment are selected to design four rotor aircraft,and the embedded software program is carried out to achieve control algorithm.After the design of the control algorithm and the platform of the four rotor aircraft,the high precision positioning information provided by the indoor motion capture system is used as the feedback information of the outer ring of the control algorithm to carry out the single flight and multi four rotor aircrafts formation flight control experiment.