基于单位四元数的四旋翼编队反演控制方法

Formation Control of Quadrotors with Unit Quaternions Based via Backstepping Method

摘要:

针对四旋翼无人飞行器,研究了在理想通信条件下编队控制问题;四旋翼无人飞行器具有复杂的数学模型,首先用四元数描述其动力学和运动学模型,将其分解为位置和姿态两个相互独立的子系统,通过引入与期望轨迹之间的误差建立了跟踪误差模型；指定编队中一名成员为领航者,编队成员通过一致性算法得到编队的几何中心位置,并以此作为期望轨迹;通过Backstepping方法为每一架四旋翼设计时变反馈控制律使编队达到镇定；最后通过仿真实验验证该控制方法的有效性。

Abstract:

Formation control under ideal communication conditions is studied for quadrotor UAV. The quadrotor UAV has complex mathematical model. First of all, the quadrotor is decomposed into two independent subsystems of position and attitude by the quatenion describing its dynamics and kinematics model. The tracking deviation model is estabilished by introducing deviation of the expect track. One member in the formation is specified as leader. By consencus algorithm the fleet gets through the geometric center as the expect track. A time varying feedback control law that making formation stabilization is designed for each quadrotor with BackStepping method. Finally, the effectiveness of this algorithm is showed through the simulation results.