| In recent years,the quadrotor UAV has drawn increasingly attention in the drone market due to its low price and flexible operation.During the research on a single UAV,it was found that there existed some problems such as short flight distance and limited load,which restricted the application of a single UAV to some extent.How to solve the shortcomings of the single UAV in the application has become one of research priorities.The formation control of multi-UAV can well solve the shortcomings of single UAV.Meanwhile,how to coordinate the formation of multi-UAV has become a hot issue of research.At present,there is much theoretical research result on ground mobile robot formation,and the result proves to be very mature.The research selects the appropriate formation algorithm based on the analysis of existing formation theories.As the mathematical model of UAV is more complicated,it is necessary to re-design the speed controller according to the characteristics of the quadrotor UAV mathematical model in the process of research.In order to realize the fleet formation of multi-UAV,the main research contents are as follows:(1)To achieve the formation mission of quadrotor UAV,the structures and principles of quadrotor UAV are first analyzed which can be more familiar with its mathematic model.And then the research on flight speed control is carried out,which combines the traditional PID speed control and nonlinear control,designing the speed controller of quadrotor UAV.(2)The flight control system of quadrotor UAV is systematically studied.In order to realize the formation flight,it defines the constraints that the formation maintenance needs to be met.(3)In order to make UVA fly as its expected formation,elliptical mathematical model is adopted to describe the expected formation under the constrains on formation.In addition,the study puts forward the control strategy of formation flight.Both theoretical analysis and stability proof show the effectiveness of this method. |
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