Optimal Control Of Multi-quadrotor UAV Based On Event-triggered Adaptive Dynamic Programming

Quadrotor UAV is widely used in all walks of life because of its simple structure,low price and flexible mobility.However,with the increasing complexity of the mission,a single quadrotor UAV has been unable to meet the needs of people,so the problem of cooperative control of multi-quadrotor UAV has gradually attracted the attention of experts and scholars,and a large number of research results have been achieved in the past decades.How to reach the same status of each UAV and minimize the energy utilization rate is one of the current research hotspots.Adaptive dynamic programming method can overcome the problem of "dimension disaster" in traditional dynamic programming,and can effectively solve the problem of optimal control of nonlinear systems.Compared with time triggering mechanism,event triggering control has the advantages of saving communication resources and reducing computing burden.Therefore,this paper proposes an adaptive dynamic programming control method based on event triggering to study the cooperative control of multi-quadrotor UAV from the perspective of optimization.The specific work contents are as follows:1.Study the optimization control problem of a single quadrotor UAV.In order to improve the control performance under the premise of ensuring the stability of the system,an optimal controller based on adaptive dynamic programming is designed.The PD controller is used as the main controller to ensure the stability of flight by using the system state information.As an auxiliary controller,the ADP controller uses the learning ability of neural network to improve the control performance of the system.The ADP controller adopts GRHDP algorithm structure,and the increase of target network can improve the overall learning ability.Finally,the simulation results are compared with the traditional PD control method,and the proposed method not only ensures the stability,but also achieves better control effect.2.Study the formation control problem of multiple quadrotor UAV at fixed time.In order to save communication resources and reduce computing burden,event triggering mechanism is introduced in this paper,and a fixed-time distributed event triggering control strategy is proposed.The multiquadrotor UAV system is divided into inner and outer loops.For the outer and inner loops,a fixed time position controller and a fixed time sliding mode attitude controller based on event trigger are designed respectively.The stability process of the system is given based on Lyapunov stability theorem.It is also proved that there is no ZENO phenomenon under this event-triggered control strategy.3.The attitude consistency of several quadrotor UAVs is studied.Based on the above research ideas and considering the adaptive dynamic programming method under the event triggering mechanism,an event triggering adaptive dynamic programming algorithm is proposed.A distributed co-optimization controller was designed for the attitude subsystem of a multi-quadrotor UAV,in which the design and proof process of adaptive event triggering conditions based on dynamic threshold were given.Finally,the effectiveness of the proposed control strategy is verified by simulation.