Consensus Based Trajectory Tracking Control For UAV Formation

Recent years,artificial intelligence has reached a truly historic turning point: technology is reshaping society in a faster and deeper way than ever before.The problem in our life is being solved in a near-revolutionary way.Artificial intelligence is widely used in robotics,autonomous driving and drone systems,which greatly liberate productivity.This paper uses the quadrotors as a platform to build an intelligent distributed system to realize the autonomous formation of UAV.Multi-agent system means that each agent can communicate with its neighbors and plan its own behavior,so that the whole system can achieve orderly motion.This paper is mainly to study the formation of drones,design distributed control algorithms to complete the formation of drone.In summary,the main research contents and results of this paper are as follows:Firstly,based on the Newton-Euler method,this paper will use 12 state variables to accurately model the unmanned aerial vehicle.According to the established mathematical model,the PID controller is designed for each state variable of the drone,so that the drone can accurately track the given position command and realize the trajectory tracking control.Secondly,This paper proposes three UAV formation control algorithms,including a leader-following algorithm and two distributed control algorithms.the distributed control algorithm is designed by using the model reference method.The reference trajectory of each drone is obtained from the distributed control algorithm and the trajectory is published to the trajectory tracking controller.So that it can realize the formation of the drone.The distributed control algorithm and leader-following algorithm of UAV formation are compared experimentally to analyze the advantages and disadvantages.It is concluded that distributed control is more suitable for UAV formation control.This paper is based on the Apriltag positioning algorithm to detect obstacles,according to design the different parameters of the distributed control algorithm,UAV formations can achieve formation reconstruction and avoid obstacles.