Self-reconfiguration And Control Of Quadrotor Aircraft Formation

With the rapid development of modern science and technology,UAV plays an indispensable role in both military and civil fields because of its remarkable advantages of high performance and low cost,which can replace human beings to perform complex,dangerous and tedious tasks in harsh environments.A single UAV has many incomparable advantages compared with man-machine,but in reality,most of the tasks that UAV needs to complete are concurrent and comprehensive tasks,single UAV can not perform the tasks in this situation at the same time.Therefore,the research on the formation of UAV drones has received increasing attention from researchers in various countries.As part of UAV formation system,UAV formation reconfiguration control plays a very important role.To this end,this paper uses the micro-miniature quadrotor as the carrier,and focuses on the reconfiguration and control of the quadrotor aircraft formation.Firstly,the current research and development trend of quadrotor aircraft and its formation reconfiguration control are summarized,studies the control methods of quadrotor aircraft formation,and explores the related theories such as graph theory and stability of quadrotor aircraft formation.Secondly,the flight principle of the quadrotor aircraft is introduced,and the dynamic model of the quadrotor aircraft is established by using the Euler angle principle,the double loop PID controller and the second-order sliding mode controller are designed for the control of the single aircraft of the quadrotor aircraft,and the control of the single aircraft of the quadrotor aircraft is completed,the control and simulation verify the effectiveness of the designed controller,which lays a foundation for the subsequent reconfiguration and control of the quadrotor aircraft formation.Thirdly,the reconfiguration of quadrotor aircraft formation system is summarized,and the model of quadrotor aircraft formation system is established,the reconfiguration strategy of quadrotor aircraft formation is introduced,considering the possible communication delay between the quadrotor aircraft in the quadrotor aircraft formation,the reconfiguration control algorithm based on consistent quadrotor is designed to reduce the complexity of the model,and the stability of the proposed control algorithm when it acts on the formation reconfiguration system is theoretically proved,and the effectiveness of the algorithm is verified by simulation.Finally,aiming at the problem of collision and obstacle avoidance in the reconfiguration process of quadrotor aircraft formation,considering the problems existing in the conventional collision and obstacle avoidance based on artificial potential field method,a collision and obstacle avoidance control law for quadrotor aircraft formation is designed by combining the consistency method,the collision and obstacle avoidance control law is validated by simulation to verify the effectiveness of the proposed collision and obstacle avoidance control law for the quadrotor aircraft formation.