Distributed hierarchical formation-containment control of multiple quadrotor UAV systems

被引：0
|
作者：
Zheng W. [1 ]
Xu Y. [2 ,3 ]
Luo D. [1 ]
机构：
[1] School of Aerospace Engineering, Xiamen University, Xiamen
[2] School of Civil Aviation, Northwestern Polytechnical University, Xi'an
[3] Yangtze River Delta Research Institute of NPU, Taicang, Suzhou
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2022年 / 48卷 / 06期
关键词：
Distributed control; Formation control; Formation-containment control; Quadrotor UAV; Under-actuated system;
D O I：
10.13700/j.bh.1001-5965.2020.0725
中图分类号：
学科分类号：
摘要：
For the under-actuated quadrotor UAV swarm systems with multiple leaders and followers, a distributed hierarchical formation-containment control method is proposed. First, a hierarchical distributed finite-time sliding mode estimator is designed to achieve that each UAV can generate estimated position information that meets the control needs under the condition that only some leaders can obtain the desired trajectory. Then, considering the research object is an under-actuated six-degree-of-freedom quadrotor UAV model, a hierarchical control method of the UAV position layer and the attitude layer is proposed, which realizes the tracking control of the generated estimated position. This method adopts a high-order derivative approximation algorithm to prevent differential explosions in the process of solving the desired angular velocity. The given method can realize the effective formation-containment under the condition of satisfying the stable convergence of attitude. Finally, the accuracy and effectiveness of the proposed method are verified through numerical simulation. © 2022, Editorial Board of JBUAA. All right reserved.
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页码：1091 / 1105
页数：14
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