The Controllability Of Multi-agent Systems Based On Quadrotors Is Improved

Since the Iran-Iraq war,UAV has entered the attention of people,with excellent performance.Its advantages are remote control and precision strike.However,With the increase of task volume,the development cost is high,and the single tactics of single player are gradually exposed.In order to overcome the above shortcomings.Multiplane formation flying and cooperation.Improve the controllability of the system.It can also realize the advantage of cluster to reduce energy consumption.Based on the above problems,this paper focuses on the four rotor aircraft.,and the following aspects are studied:First,in this paper,the present research situation of four rotor aircraft and the research trend of formation flying are discussed.According to the above discussion,aiming at the main uses of civil aircraft,the image acquisition of four rotor aircraft is studied.The design process of hardware and image acquisition system for four rotor aircraft is introduced.Then it introduces the whole system's assembly and debugging,and realizes image acquisition and processing.Second,according to the flight environment of the four rotor aircraft,the flight principle of the four rotor aircraft is analyzed.According to the Newton Euler formula,for the four rotor,two models of attitude dynamics and linear dynamics are established respectively.And the mathematical model is simplified,the control of the four rotor's position and attitude is simpler.Finally,for a controllable system composed of multiple four rotor aircraft,two ways to increase the leader and adjust the edge weight are put forward to improve the controllability of the system.A necessary and sufficient condition is put forward to enable the least leaders to achieve controllability of the whole system.The leadership selection algorithm and the weight adjustment algorithm are proposed.And the experiment simulation is carried out.