Event-triggered Finite-time Formation Control Of Multiple Quadrotor Aircraft

Quadrotors are widely used in military,agricultural and other fields due to their small size,low cost,strong maneuverability and vertical lift.Linked by communication networks,multiple quadrotor forms a UAV formation.They can make up for shortcomings of single UAV through coordinated operations such as track planning and task decomposition.However,with increasing in the number of UAVs,the required bandwidth of communication network has grown exponentially.The huge network load may cause problems such as network congestion,data delay and packet loss,making the quadrotor group out of control.Event-triggered strategy can help multiple quadrotor to save system computing and communication resources.And finite-time algorithm can enable the group system to achieve formation control faster and reduce system energy loss.Based on the above issues,this dissertation will take the quadrotor group as controlled object,and study multiple quadrotor's finite-time formation control based on distributed event-triggered strategy.An event-triggered consensus controller is designed for the UAV attitude system.For the position system,a finite-time formation controller based on distributed event-triggered is designed,and a fixed-time attitude controller is devised to make attitude reach the set value.The main contents and contributions are as follows:1.An event-triggered attitude consistency controller is devised for the quadrotor group's attitude system.The event function and closed-loop system stability proof process are provided.It is proved that the interval of triggered time has a floor,so the event will not be triggered infinitely in unit time.The system state trajectory and interval scatter plots obtained through Matlab simulation prove that event triggered algorithms can save system communication and computing resources.2.The event-triggered consistent attitude controller is extended to distributed event-triggered formation controller.Event functions are designed for each quadrotor in swarm system which can realize distributed event-triggered formation control.And the stability proof process of closed-loop system is given according to Lyapunov's theorem.The Matlab simulation trajectory of quadrotor group is given,which proves that the group system can achieve formation control under the distributed event-triggered controller.3.The event-triggered finite-time formation control strategy is studied.Using the inner and outer ring ideas,a distributed event-triggered finite-time formation controllers is designed for the position subsystem,and a fixed-time attitude controller is designed for the attitude subsystem.Finally,multiple quadrotor achieves finite-time formation control under the distributed event-triggered strategy.It is given the stability proof of distributed event-triggered finite-time formation controller and fixed-time sliding mode controller.Matlab simulation trajectory verifies the feasibility of this control strategy.