The Study Of Finite-time Formation Control System Of Quadrotor Aerocraft

Quadrotor is a simple novel structure aerocraft which can vertically take off and has important applications in many fields such as military and civilian area.However,with the increasing complexity of the tasks,the single quadrotor has been unable to adapt to the diversified requirements while carrying out a task.Therefore,quadrotors formationcontrol is a valuable research based on multi-agent system.Constructing and maintaining formation is a hotspot due to its high performance and efficiency of cooperative flight.According to the unique characteristics of quadrotor,this paper concentrates on the dynamic characteristics in detail and proposes the flight control design method to solve the formation control problem.The main contents are as follows:First of all,we can establish the kinetic and dynamic equation of single quadrotor with Newton-Euler equation and quaternion basic theory.Under the structure of leader-follower,a formation control law based on fast terminal sliding mode method with high-precision tracking capability is presented to ensure the formation can be realized in limited time.The formation controller design can be decomposed into two steps.Firstly,this paper proposes a finite-time state estimating algorithm and obtain the quadrotor error model;Then the quadrotors can converge to the desired trajectory while the angular subsystem track its ideal orientation.Simulation results show that,the followers can estimate the maneuvers of the leader precisely according to the directed communication,so that the system can realize high-precision formation in finite-time and maintain it stably.Secondly,based on the above-mentioned controller,the discontinuity of the control inputs,singularity problems and convergence delay may cause tracking failure.Therefore,an improved finite-time control law is proposed to solve those drawbacks,and it can ensure the output of system will not be affected by mismatched interference and has strong robustness.In addition,this paper also gives theoretical proof of formation stability.Finally,according to the simulation results compared to the algorithm proposed in the first part,including tracking convergence speed and accuracy,input performance and so on,it verifies the validity and rationality of proposed control law.