Research Of UAVs Leader-Follower Formation Flight Control Based On SMC

With the continuous development of science and the constant changes in the international situation,the demand for coordinated control of multi-UAVs in various countries has rapidly increased.And the multi-UAV formation control has become one of the current research hot spots as the primary task of multi-UAV coordinated control.The research of multi-UAV formation flight control is to enable multiple UAVs to form a desired formation to fly and perform missions.It is also a difficult point for multi-UAVs to achieve coordinated control.In multi-UAV formation flight control,the Leader-Follower method as the most common traditional method for multi-UAV formations,with high scalability,reduced consumption,and enhanced group communication features.However,the method has the defects of over-reliance on a single target,poor formation robustness,and so on.This paper addresses these deficiencies,proposes solutions,improves the Leader-Follower formation control method,and designs multi-UAV formation controllers.And the controller was simulated in the ideal and actual flight environment.The main contents are as follows:1.Combining graph theory to improve the traditional formation control method and using sliding mode variable structure control theory designing formation controller.In view of the problem of disruption of communication between the follower and its leader in the formation,the improvement of Leader-Follower formation control method in combination with graph theory enables the follower to continue to maintain formation through the information of adjacent UAVs when the communication is interrupted.Sliding mode variable structure control theory is used to design multi-channel formation controllers for each UAV,so that UAVs can track their leader to form the desired formation.Finally,the stability of the controller and the consistency of the system are proved.2.Introducing the formation area and improving the artificial potential field method.When multiple drone clusters form the desired formation under the role of the formation controller designed in this paper,the threatened formation actual flight environment is considered.This paper introduces the formation area and improves the artificial potential field algorithm,so that the improved artificial potential field method can plan a reasonable formation track.3.Introducing market bidding mechanism and designing master-slave conversion algorithm.Based on the Sealed First Price Auction(FPSB auction),this article considers auction principles from three aspects: UAVs and threats,UAVs and UAVs,UAVs and destinations.Designing a master-slave conversion algorithm for multi-UAV formations,the multi-UAV fleet can quickly coordinate the determination of the new pilot after the pilot fails.4.The simulation experiments of the formation controller,path planning method and master-slave conversion algorithm are carried out.The simulation results show that the formation controller designed in this paper can be formed in both the ideal flight environment and the obstacle avoidance flight,and the desired formation can be maintained stably.At the same time,the artificial potential field method introduced into the formation area can be used to plan a reasonable formation track.Finally,after the pilot fails,the master-slave conversion algorithm designed based on the market auction mechanism can quickly determine a new pilot.Simulation results verify the effectiveness and feasibility of the controller and method designed in this paper.