Formation Control of Quadrotor Based on Consensus and Virtual Leader Theory of Distributed Communication
澍祺 秦 · Artificial Intelligence and Robotics Research · 2018
根据实际情况，在虚拟领航编队中所有无人机因各种因素影响并不能都接受到虚拟领航者的信息，因此本文采用分布式通信控制结构，并利用图论与一致性理论设计了相应的编队控制律。以二阶系统为研究对象，通过利用设计的控制律和相应的通信拓扑网络，在仿真中实现了3架无人机虚拟领航一致性编队控制飞行，并在位置与速度信息上达到一致。 According to the actual situation, all the UAVs in the virtual leader formation cannot receive the information of the virtual leader due to various factors. Therefore, the distributed communication control structure is adopted, and the formation control law is designed by using graph theory and consensus theory. Taking the second-order system as the research object, through the design of the control law and the corresponding communication topology network, the virtual leader formation control flight of the three UAVs is realized in the simulation, the position and speed information get consensus.