Research On Formation Control Of Quadrotor Based On Sliding Mode Control

Quadrotor has the characteristics of low cost,high mobility and easy operation,so it has broad application prospect in military and civil fields.However,in some cases,due to its limited flight capacity and load,it is difficult for a single quadrotor to complete the mission,which requires multiple cooperation.Therefore,the research on formation flying of quadrotor is particularly important,which can improve the complexity,timeliness and fault tolerance of quadrotor to carry out flight mission.The performance stability of the controller is the foundation of its application,so the design of control law is very important for its application.The main research content is to design the controller of the quadrotor and design the formation controller based on the stability control of a single quadrotor.It mainly includes the following specific work:Firstly,the research status of quadrotor and its formation at home and abroad is described,and the dynamics model is established based on Newton-Euler equation by analyzing the system composition and basic flight principle of quadrotor.According to the derived mathematical model,a control scheme combining inner and outer rings is constructed.Secondly,the controller is designed by non-singular fast terminal sliding mode method to realize the stability control of the quadrotor.The extended state observer is designed to reduce the influence of non-modeling parts and external disturbances,and proved that ESO can converge in finite time.The control effect was verified by Matlab /Simulink and FlightGear joint visual simulation.Finally,the quadrotor formation is studied,the sliding mode control combined with event triggering mechanism was used to reduce the communication frequency for the problem of communication limitation due to the large number of quadrotor formation.An improved artificial potential field method is used to solve the possible collision problem between quadrotor aircraft in the formation transformation process.Simulation results show the effectiveness of the proposed control algorithm.