Research Of Consistency Problem For Multi-UAV System With Leader-follower

In recent years,with the continuous innovation of science and technology,automation technology gradually tends to mature,in the artificial intelligence,computer and biological simulation and other fields of the thought and knowledge of the continuous collision,technology overlapping,thus derived a new concept--networked multi-agent system.This system has the characteristics of strong flexibility and great potential for development,especially in the military,people's livelihood and other fields have a wide range of applications.Therefore,it has attracted the attention of many scholars and become an important research direction in the field of research control.The cooperative control of networked multi-agent system is a basic problem in the research of multi-agent system.Among them,the consistency of multi-agent system is the basis of cooperative control of multi-agent system.The consistency of multi-agent system simply means that the state information of each agent tends to be consistent after debugging by an algorithm.Then the algorithm that makes the multi-agent system reach the consistency is called the consistency algorithm or the consistency protocol.In this paper,the theory of multi-agent system is applied to practical operation,and the consistency of multi-agent system is studied in a specific sense.The research of this topic involves a wide range of knowledge fields,including graph theory,matrix theory,linear matrix inequality and Lyapunov stability theorem.In this paper,the quadrotor unmanned aerial vehicle(UAV)with four inputs and six outputs is chosen as the research object.The UAV is characterized by its diversity of functions,simplicity of operation,affordable price and strong flexibility.This paper studies the following aspects: First,mathematically model a quadrotor UAV with many variables and strong coupling.The quadrotor unmanned aerial vehicle is divided into flying motions in the air,and the quadrotor UAV's flying motion is divided into particle motion under geographic coordinates and rotation motion under body coordinates.On this basis,the dynamic model of the flying motion of the quadrotor UAV is established;Second,ignoring all the secondary influencing factors,in the absolutely ideal experimental environment,the distribution of the formation of the quadrotor UAV formation flight is abstractly expressed by the knowledge of graph theory and matrix theory,and the study of the situation without the leader multi quadrotor UAV consistency problem;Third,after studying the consistency of the multi quadrotor UAV in the general situation,we expand on this basis,fix the formation mode of the quadrotor UAV flight movement,and set up a quadrotor UAV formation model with the leader-follower structure.In this formation mode,we study the consistency of the multi quadrotor UAV system;Fourth,but the actual flying environment of the quadrotor UAV is by no means simple,and various conditions may be encountered during flight operations,such as the delay in communication between the quadrotor UAVs participating in the formation or the transmission of information problems such as data loss occur during the process.Therefore,in the leader-follower structure formation mode,in addition to the time delay of communication between the bodys,in the experimental environment where the remaining conditions are absolutely ideal,the multi quadrotor UAV system consistency problem with different delays.Fifth,during the operation of quadrotor UAV,the flight position will be adjusted according to the actual situation,so the communication topology of the quadrotor UAV will change accordingly.We consider the realization of the consistency of the multi quadrotor UAV system with the leader-follower structure under the real-time change of the communication topology.