Research On Distributed Formation Tracking Control Of Quadrotor UAV

The quadrotor unmanned aerial vehicles(QUAV)is a small unmanned aerial vehicles with light weight,low cost,good maneuverability and concealment,and has the function of autonomous flight.It can perform missions such as forest fire monitoring,traffic supervision,atmospheric detection,and cargo transportation.Although UAVs have many advantages,no matter how to improve the efficiency of a single UAV,the performance of the single UAV is always limited.In order to solve this problem,multiple UAV formation technology came into being.This paper takes the formation flight control of multiple QUAVs as the research object.The main research contents are as follows:Firstly,a event-triggered finite-time disturbance observer is designed,which can effectively estimate the external disturbance within a finite time,and at the same time can reduce the number of updates of the observer.Combining finite time control theory and backstepping control method,a distributed finite time formation tracking controller is proposed.Based on the Lyapunov stability theory,the finite time stability of the closed-loop control system is proved.The superiority and effectiveness of the control strategy are verified by comparison and simulation.Secondly,for the formation tracking control problem of QUAVs under the external disturbance and asymmetric output errors constraints,a distributed formation tracking control strategy based on graph theory and backstepping control method is proposed,and the asymmetric barrier Lyapunov function is introduced to realize the asymmetry constraint of output error.At the same time,the disturbance observer is designed to estimate the external disturbance.Based on the Lyapunov stability theory,the bounded stability of the tracking error is proved,and the tracking error is always within the preset boundary.The effectiveness of the control strategy are verified by simulation.Finally,for the formation tracking control problems of QUAVs under the influence of external disturbance,output error constraints and actuator failures,an event-triggered faulttolerant formation tracking control strategy is proposed.The prescribed time performance function is used to ensure that the output error enters the constraint interval within the prescribed time.At the same time,the adaptive law is used to estimate the unknown parameters and the upper bound of the comprehensive uncertainty,which can eliminate the influence of actuator failure and external disturbance,and the event-triggered controller is designed to reduce the number of controller updates.Based on the Lyapunov stability theory,the bounded stability of the tracking error is proved.The effectiveness of the control strategy is verified by simulation.