Research On Anti-interference Formation Control For Quadrotors

Quadrotor has been widely used in military and civil fields because of its simple structure,convenient control and low cost.In order to enhance quadrotor ' ability in performing tasks,formation control research based on quadrotor has become a hot topic.The complex electromagnetic environment makes quadrotor vulnerable to be interfered,and the anti-interference problem of quadrotor formation becomes urgent to be solved.In this paper,the anti-interference problem of quadrotor formation is analyzed,and an anti-interference control method of quadrotor formation based on dual mode switching is proposed and designed.Considering the process of quadrotor formation before and after interference,two formation control methods: a consistent formation control method based on information-exchanging and a formation control method based on coordinated path planning and tracking were designed respectively.Main contents are shown as follow:Firstly,the anti-interference problem of quadrotor formation is analyzed,and the anti-interference control design scheme of quadrotor formation based on dual-mode switching is given.According to the influence of interference on the communication between quadrotors,the interfering process is divided into three stages: before interfering,during interfering and after interfering.For the situation that the communication between the quadrotors is normal before interfering and after interfering,the formation control mode 1 is proposed.The design idea of the formation control mode is based on the information interaction between the quadrotors;For the situation that the communication between the quadrotors is interrupted,the formation control mode 2 is proposed-the design idea is based on cooperative path planning and tracking.By analyzing the switching process between dual modes,a dual mode switching mechanism is designed.For formation control mode 1,formation maintenance control based on consistency theory is designed.The mathematical model of quadrotor formation is established,and the communication topology between quadrotors is designed.The consistency problem of quadrotor formation is analyzed,and the consistency variables are given.The formation maintenance control protocol of quadrotor formation with leader is given by using virtual structure method,and the stability of the protocol is proved.For formation control mode 2,formation maintenance control based on cooperative path planning is designed.The problem of cooperative path planning and tracking is analyzed,and a quadrotorformation maintenance control scheme based on cooperative path planning is presented.The flight environment is established by three-dimension grid method.The path search is carried out by ant colony algorithm,and the reference path of quadrotor formation is planned.The cooperative path of quadrotor formation is planned according to the reference path and the cooperative variable.Considering the external disturbance during tracking flight,position and attitude tracking controller is designed respectively by using sliding mode control method.Finally,simulation experiments are carried out for two formation control modes respectively.The simulation results verify the rationality and effectiveness of the two formation control modes.