面向目标对峙跟踪的四旋翼协同编队控制方法

针对多四旋翼编队飞行过程中对地面目标对峙跟踪、几何队形生成、稳固保持和协同抗干扰问题,设计了一种可应对外部环境干扰和气动参数不确定性的多四旋翼主从式协同目标跟踪方法。首先,建立存在外部干扰以及参数不确定性的四旋翼运动学/动力学模型;其次,基于Lyapunov导航向量场设计领航者的对峙跟踪航迹使得领航者以固定对峙半径实现对目标的盘旋跟踪;然后,构造多四旋翼分布式位置保持控制器,为后续姿态控制器构造提供必要的期望指令;最后,针对四旋翼外部环境干扰和气动参数不确定性设计基于自抗扰控制的多四旋翼姿态跟踪控制器。仿真结果表明所提方法可以在局部智能体通信的前提下实现对地面目标的对峙跟踪,显著改善四旋翼编队系统的抗干扰能力,提升干扰环境下多四旋翼编队几何构型的稳固性。

Cooperative Formation Control Method of Multiple Quadrotors for Stand-off Tracking Ground Target

Aiming at the stand-off ground target tracking,geometric formation,stability keeping and cooperative disturbance rejection,a leader-follower cooperative target tracking method is designed for multiple quadrotors in this paper.The proposed control method can deal with the external environmental disturbance and the uncertainty of aerodynamic parameters in the flight of multiple quadrotors formation.Firstly,the dynamic model considering external disturbance and parametric uncertainties is constructed.Then,the hovering tracking control law is designed based on Lyapunov guidance vector field.Next,position holding controller design is proposed and desired command is provided for the following attitude controller.Finally,to cope with the external disturbance of quadrotors and uncertainty of aerodynamic parameters,the attitude tracking controller is developed based on active disturbance rejection control.The simulation results validate the efficiency of our control method under the premise of local agent communication.