集群空间控制框架下的四旋翼编队飞行研究

针对四旋翼编队控制问题,采用水平通道与高度通道解耦的四旋翼动力学模型,基于集群空间控制方法设计了编队控制器。首先介绍了集群空间控制方法的两个重要概念,即集群空间变量和集群运动学关系,进而以3架四旋翼为例,详细地给出了集群空间编队控制器的设计思路。在选取集群变量并建立编队与单机的运动学关系后,设计了不完全微分PD控制器以产生集群控制指令。不完全微分PD控制与常规PD控制相比,前者抗高频干扰能力更强。最后通过仿真验证了该编队控制算法能够完成多架四旋翼的队形放大和队形保持任务,且具有较高的控制精度和较好的抗高频干扰能力。

Formation Control for a Multi-quadrotor System under the Cluster Space Control Framework

For the multi-quadrotor formation control, this paper adopts the horizontal channel and height channel decoupled quadrotor dynamic model and designs the formation controller based on the cluster space control method. Firstly, two important concepts of the cluster space control method are introduced, namely cluster space variable and cluster kinematics relationship. Then three quadrotors are taken as examples to give a detailed design idea of cluster space formation controller. After selecting the cluster variables and establishing the kinematic relationship between formation and single drone, an incomplete differential PD controller is designed to generate the cluster control instructions. The incomplete differential PD control is more resistant to high frequency interference than the conventional PD control. Finally, the simulation results show that the proposed formation control algorithm can complete the multi-quadrotor formation amplification and formation maintenance tasks, and has high control precision and good anti-high-frequency interference capability.