| With the rapid development of embedded system technology,control technology and UAV system technology,with increasingly complex environments and diverse needs,in many cases,single UAV cannot meet complex mission requirements,thus it is necessary to built multi-UAV system which consists of multi-single UAV to work together.Not only multi-UAV system could accomplish the task which cannot be achieved by single UAV,but also improve efficiency significantly.In the process of building a multi-UAV collaborative system,robustness is a very important consideration.Assuming that a single unit in the coordinated system has something wrong,if the robustness is not considered when designing the control law for single UAV or coordinated system,then this UAV is likely to have an unpredictable situation,which causes catastrophic consequences for the system.Therefore,whether for the single UAV system or coordinated system,the robustness of the system should be considered.For the single UAV system,uncertainty and disturbance estimator(UDE)-based robust controller is designed,including attitude and position controller,the effectiveness of the developed control strategy is demonstrated through simulation with Gaussian-white noise for a quadrotor.For the multi-UAV system,attitude synchronization control and position sychronization control is discussed respectively.For attitude synchronization,state feedback attitude synchronization and velocity-free attitude synchronization is designed,state feedback attitude synchronization is regarded as the main strategy while velocity-free attitude synchronization is regarded as the ancillary strategy.For position synchronization,nonlinear model of quadrotor can be regarded as the double-integrator system with the small angle perturbations.Robust distributed motion syschronization algrithm is designed based on double-integrator,stability of the algrithm is analyzed.The simulation results and the experimental results demonstrate the effectiveness of the algrithm. |
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