Master Slave Cooperative Guidance And Formation Control For Multiple Uavs For Maneuvering Target Tracking

UAV has attracted wide attention in recent years due to its large number of applications in military field and great potential in civil field.Tracking ground targets is one of the most important tasks for UAVs in the application stage.For example,UAVs can be used to collect data from large-scale disasters or for law enforcement activities,to track intruders in border patrols,and to track the natural habitats of animals in the protection of wildlife.Multi UAV cooperative formation tracking can improve the estimation precision of the target motion state and reduce the probability of the loss of the target,and can enhance the ability to resist the invasion of the outside world.Therefore,it has important theoretical significance and engineering application value.The difficulty of the unmanned aerial vehicle(UAV)tracking the ground target is how to keep the target in the field of vision in the process of tracking the target automatically,and the UAV can effectively maintain the specific formation to prevent the collision between the machines.In this paper,a multi unmanned aerial vehicle Lyapunov vector field based multi unmanned aerial vehicle(UAV)theory and method for ground target tracking based on the multi unmanned aerial vehicle(UAV)is constructed.The integrated course control and phase control make the multiple unmanned aerial vehicle converge to the limit cycle of the target up with the fixed confrontation radius,which ensures the continuity of the unmanned aerial vehicle.Secondly,the active disturbance rejection control method is applied to the four rotor UAV for the multi-source interference problem.According to the four rotor unmanned aerial vehicle dynamic model,the controller is divided into three channels.On the basis of the self disturbance rejection control theory,the self disturbance rejection controller is designed for each channel of the four rotor unmanned aerial vehicle respectively.The design of the self disturbance rejection controller is superior in dynamic performance and steady state performance,and has good anti-interference ability and strong robustness.Finally,based on the self anti disturbance flight control method of four rotor unmanned aerial vehicle,based on the theory of finite time control and the two order consistency algorithm of multi-agent,a master-slave finite time coordinated formation control model based on the virtual leader track is established.The position controller and attitude controller of the finite time formation of the four rotor unmanned aerial vehicle are respectively designed,and the Lyapunov theory is used.The finite time stability of the closed loop system is derived by the theory of consistency and the theory of the consistency.It is proved that the proposed controller can realize the desired formation and desired trajectory within a limited time.By combining the terrain target tracking algorithm with the Lyapunov navigation vector field,the high anti disturbance and strong stable multi UAV cooperative target tracking can be realized to adapt to most of the target motion trajectories.