Formation Control Of Multiple Quadrotors Baseb On Leader-Follower Theory

Under the trend of integration and application of unmanned control system and traditional industry,many advanced research achievements of unmanned system,such as unmanned aerial vehicle and robot,have been widely applied to the upgrade of traditional industry,and constantly improve the efficiency of traditional industry.As a typical representative of UAS,Quad-rotor UAV has promoted the rapid development of logistics distribution,power inspection and other industries in recent years.Compared with single Quad-rotor UAV,the cluster formation of Quad-rotor UAV has greater advantages in industry applications,and has become a research hotspot in the field of UAV control all over the world.At present,the most commonly used formation control method of UAV is leader-follower method,but its disadvantages of step-by-step enlargement of formation error.Poor robustness also reduce the method reliability in industrial integration applications.Based on the leader-follower method,a Quad-rotor UAV formation control method which can stabilize flight in obstacle area is proposed by comparing the traditional formation control methods.The main work of this paper includes:1.Based on leader-follower theory,a Quad-rotor UAV formation kinematics model is established.Aiming at the formation motion of Quad-rotor UAV,this paper adopts leader-follower formation method and combines the motion characteristics of Quad-rotor UAV,establishes the kinematics equation of Quad-rotor UAV formation,and designs the formation flight control structures in horizontal XOY direction and Z axis direction respectively,so that the Quad-rotor UAVs can complete the three-dimensional formation flight task.2.Design an adaptive fuzzy formation controller.Based on the analysis of the motion characteristics of Quad-rotor UAV,a single-loop PID formation controller is designed with the expected position information of follower as input and the attitude angle control quantity as output.On the basis of single-loop PID formation controller,a fuzzy controller is designed to optimize the single-loop PID controller,and the quantitative and proportional factors in the fuzzy control are optimized again by the fuzzy method,which improves the accuracy and reliability of the follower's flight tracking to the leader.3.Add formation flying area and modify artificial potential field method.Considering that the Quad-rotor UAV formation need to fly through the controller designed in this paper in the obstacle area,this paper adds the formation flying area and modifies the artificial potential field method to realize the purpose that the modified artificial potential field method can plan a reasonable flight path for the Quad-rotor UAV formation.4.In order to verify the effectiveness and reliability of the algorithm,this theory builds the hardware platform of H30S03 quad-rotor UAV formation,and compiles the formation flight control software according to the verification requirements.On this formation system,the following control experiment of leader-follower formation system is completed.The control effect is good.The Z-axis direction control error is 10 cm,and the X-axis and Y-axis direction control error are 20 cm,which meet the expected requirements.