Cooperative Control Method For Quad-rotor UAV Swarm

As an emerging scientific and technological achievement in recent years,the rotary wing drone has been used more and more widely in the military and civilian fields due to its small weight,small size and flexible movement.In this paper,the quad-rotor UAV is taken as the research object,and the cooperative control method of the UAV swarm is studied.Firstly,the quad-rotor UAV related coordinate systems and the nonlinear six dof dynamic model are established,and the proportional differential controller is designed to verify the validity of the model.Secondly,a method of cooperative control of UAVs with high efficiency and dimensionality reduction is studied.The UAV swarm with N nodes is regarded as an abstract rigid body in the three-dimensional Euclidean space.The 3N control variables representing the position of each node in the swarm are transformed into nine basic parameters of the rigid body.Nine abstract parameters can be decomposed into two independent control variables,and a curve fitting method is proposed to obtain the desired abstract state to realize the formation transformation of the entire swarm and reduces the controlling dimension of the UAV swarm.Finally,a method of cooperative control of UAV under the constraints of communication topology is studied.The swarm communication constraint is described as a topology in graph theory.Based on leader-follower method,an output feedback distributed controller is designed to satisfy the fuel optimization and the stability of the controller is proved.Taking the task-driven UAV swarm cooperative flight as the simulation experiment scene.The monitoring configuration for hot points and the and serving configuration for users are designed,the distributed controller is used to control the formation and transformation of the configuration.