Control System Design And Implementation Of Formation Control System Based On Quadrotors

The formation control of quadrotor has a wide range of applications in both military and civilian field.This thesis studies the key technologies of the formation of the quadrotor and proposes a design method for the formation control system.This thesis mainly study the formation problems from three aspects: information fusion estimation and control of the quadrotor system,formation and tracking control,and reconfiguration control.The software and hardware platform of the formation system are designed,and we verify the formation control system through experiment.The main work of this thesis is as follows:Firstly,the coordinate system and the conversion relationship between coordinates are given.The dynamics model of quadrotor and the mathematical description of the quadrotor control problem are given.And the information flow model and the mathematical description of the formation control problem are estimatedSecondly,the method of information fusion and control of the quadrotor system is given.According to the analysis of the noise characteristics of the sensors,a fusion filtering algorithm is designed which considering its environmental adaptability.for the center-of-gravity shift problem caused by unbalanced loading,we provide a realtime identification method of the center of gravity,and position controller and attitude controller based on the gravity center offset compensation are designed.Again,a distributed formation keeping and tracking control algorithm based on information consistency is given.According to the information flow topology model of the topological structure of the representation information,a consistency formation maintaining control form is designed,and we prove the stability of the closed-loop system under the communication delay condition.We design the formation keeping and tracking controller based on the artificial potential field method and the simulation result proves the feasibility and effectiveness of the algorithm.Then,a path planning algorithm in formation reconfiguration control is given.The problem is decomposed into the problem of cooperative target allocation and simultaneous trajectory planning.We propose the index of multi-objective allocation optimization problems.And a target allocation method based on genetic algorithm is designed.Multi-constraint trajectory planning problem is solved to obtain a global time optimal trajectory.And a local trajectory planning method based on dynamic window sampling is designed.We propose a trajectory planning strategy for the fusion of global and local.The simulation results prove the feasibility and effectiveness of the formation trajectory planning algorithm.Finally,an experimental platform for formation is designed and built and we complete algorithm’s verification.A software and hardware platform for formation experiments was built.We verify the trajectory tracking control,formation maintenance control,and formation change control of the quadrotor on the experimental platform,and the experimental results prove the feasibility and effectiveness of the design of formation.