Research On Flight Control And Consensus Formation Control Of Heterogeneous UAV

In recent years,unmanned aerial vehicle(UAV)has been widely used in military and civilian fields due to its simple structure and flexibility.However,with the gradual complication and diversification of application scenarios and task requirements,the flight control of single UAV can no longer meet the demand.Therefore,the formation control of multi-UAVs has become a research hotspot.Among them,the information consensus theory,which use information interaction to achieve the goal of each machine,provides a new idea for multi-UAV formation control because of its simple description and low computational cost.In this paper,we choose the fixed-wing UAV and the quadrotor UAV as the object,and studies the flight control algorithm of the heterogeneous UAV and its consensus formation control protocol.The main contents are as follows:Firstly,briefly introduce the establishment process of mathematical models of fixed-wing UAV and quadrotor UAV,and the basic tools of the information consensus theory: algebraic graph theory and matrix theory.Secondly,the flight control algorithm of the fixed-wing UAV is designed.For the fixed-wing UAV linearized motion equation,the(longitudinal)pitch,height and(transverse lateral)roll,yaw PID controllers are designed respectively.The CMAC and PID composite controllers are designed in the pitch and roll control to optimize the parameters of the conventional PID controller.The simulation experiments verify its effectiveness.Then,the flight control algorithm of the quadrotor UAV is designed.The system structure is divided into inner ring(attitude loop)and outer ring(position loop),then respectively introduce the Backstepping theory and the NDI theory to design the outer ring position controller and the inner loop attitude controller,which preserves the nonlinearity of the model well.Simulation experiments show that tasks such as fixed-point hovering and trajectory tracking can be realized.Finally,the consensus problem of heterogeneous multi-UAV systems under fixed directed topology is studied.The fixed-wing and quadrotor UAV are respectively converted into a first-order integrator system and a high-order integrator system.Based on the existing control methods for the combination system of first-order and second-order integrators,the extended consensus control protocols under three-dimensional space are designed for the heterogeneous multi-UAV system,also analyzed the necessary and sufficient conditions for the system to achieve consensus and the convergence state equation when achieving consensus.Simulation experiments show that the heterogeneous UAV system can achieve consensus gathering in three-dimensional space and the convergence value can be used to obtain the position convergence value of each UAV.