Research On Coordinated Control Of Heterogeneous Unmanned Aerial Vehicle And Unmanned Ground Vehicle Systems

In recent years,multi-agent systems have been widely used,especially the heterogeneous multi-agent systems composed of Unmanned Aerial Vehicle(UAV)and Unmanned Ground Vehicle(UGV),which have been widely used in military,search and rescue,monitoring and agriculture.This thesis studies the problems of formation tracking and multiconsensus problem for UAV and UGV systems,and build the experimental platform for the formation tracking of UAV and UGV systems.The main work of the thesis is as follows:Firstly,the formation tracking problem of heterogeneous multi-agent system composed of UAV and UGV is studied.The nonlinear model of UAV and UGV is transformed into a linear model by using feedback linearization scheme.Taking UGV as leader and UAV as follower,the expected trajectory of the UAV is obtained by defining the distance of the UAV and UGV as function.Based on the leader-following method,a distributed control algorithm is designed to make UAV and UGV to complete formation tracking.Secondly,considering the nonlinear models of UAV and UGV,the multiconsensus problem of UAV and UGV is studied.The models of unmanned aerial vehicles and unmanned vehicles are divided into linear and nonlinear parts by virtual control.For the linear part,a control algorithm is designed so that the UAV and UGV systems reach bounded multiconsensus,and at the same time the expected value of the angle is obtained.For the nonlinear part,the neural network is used to approximate the nonlinear and unknown disturbances,and the neural network weight adaptive law and distributed control algorithm are designed to make the UAV and UAV systems eventually form bounded multiconsensus.Finally,an indoor experimental platform of tracking formation for UAV and UGV is set up.Chose the Crazyflie2.0 as UAV and Turtle Bot3 as UGV,and construct an indoor positioning system based on UWB technology.Based on the hardware of the experimental platform,the corresponding software is designed.The distributed control algorithm obtained by the theory is applied to UAV and UGV systems,and the formation tracking experiment is completed.The result and analysis of experimental show the effectiveness and feasibility of the proposed algorithm.