Research On Event Triggered Coordination Control Of Multi-UAV System

The multi-UAV system is composed of multiple unmanned aerial vehicles.It can not only play the advantages of quadrotor’s simple structure and flexibility,but also could greatly improve work efficiency.Its advantages have been initially applied in the military investigation,combat and agricultural plant protection,and become the development trend in the related field.But the interaction between individuals within the cluster leads the consumption of large amounts of energy and the compute of the control signal needs a large number of microprocessor resources,which have become a bottleneck restricting the development of the field.The main research contents of this paper are event-triggered distributed coordinated control for multi-agent system with four-rotor unmanned aerial vehicles.The four-rotor unmanned aerial vehicle has the characteristics of high-order nonlinearity,uncertain parameters,strong coupling of variables and under-actuated(four control input-six output),which brings new challenges to the design of control algorithm and event triggering mechanism,and means that the control algorithm and event triggering mechanism which can be applied to the multi-UAV system can meet the performance requirements of most multi-agent systems and have wide practicability.On the basis of extensive reading of the literature in this field and studying the predecessors’ work,the author puts forward three kinds of control algorithms with certain innovation or improvement,and designs the appropriate event triggering mechanism according to the characteristics of each algorithm.The three control algorithms are:backstepping control algorithm,exponential convergence control algorithm and a linear improved algorithm.The backstepping algorithm mainly overcomes the problem of the uncertain parameters in the control object.It is a feedback linearization control method,which means needing the strict accuracy of the known non-linear part of the model.The corresponding event triggering mechanism is mainly related to the size of the control signals.The exponential convergence algorithm forces the UAVs to follow the speed of the exponential convergence to track the given signal,and the composition of the control quantity is only related to the track error and its derivative.The mathematical model of the control object is not strictly required.The corresponding event triggering mechanism is mainly related to the states of UAV.The linear improved algorithm is mainly based on the particular structure of UAV model,which is improved on the basis of the linear control method(convergence to the origin)to track the given signal and satisfy performance requirements.The corresponding event triggering mechanism is mainly related to the states of UAV.The effectiveness of the above three control algorithms and their corresponding event triggering mechanisms are verified through mathematical model of multi-UAV system established by MATLAB/simulink.The simulation results show that the three control algorithms can meet the requirement of control performance,and the error convergence is completed quickly.The event triggering mechanism makes the control quantity not change in the time and can reduce the burden of the microcontrollers on each UAV.