Attitude Synchronization Of UAVs Without Angular Velocity Measurement

Unmanned aerial vehicle(UAV)has the characteristics of small size,convenient use and strong survivability on the battlefield,which is of great significance for future air combat.It also has a wide range of applications in civil applications,such as express transportation,aerial photography,traffic patrols,etc.,developed countries are also actively expanding the industry to develop drone technology.The research on cluster behavior of multi-UAVs has received extensive attention,and attitude synchronization control is the basis for implementing cluster behavior.In general,gyroscopes are often used to measure the angular velocity of drones,but gyroscopes are economically expensive and prone to failure,resulting in system instability and economic burden,resulting in uncontrollable safety factors.The angular velocity measurement scheme has become a research hotspot in recent years.Based on the review of the existing literature,this paper analyzes the shortcomings in the research of multi-UAV attitude synchronization control,and further studies some key issues.The full text is summarized as follows:The attitude synchronization of the UAV group without angular velocity measurement under random delay is studied.In the process of information interaction between the members of the UAV group,the information transmission delay is unavoidable.Considering the random occurrence of the information transmission delay,Bernoulli random distribution is used to describe the random occurrence of the delay,and no angular velocity measurement is proposed.Human-machine attitude synchronization design.Considering that the angular velocity is not used as the feedback amount,the virtual system-based method is used to process a virtual system for each drone in the group,and an intermediate attitude reference trajectory is generated for each drone to associate the drone with it.Design control inputs so that each drone tracks its corresponding virtual system while all virtual systems synchronize their poses.UAV leaderless and leader-follower attitude synchronization is achieved without angular velocity measurement under random delay.The attitude synchronization of the unmanned aerial vehicle group without angular velocity measurement under the event trigger mechanism is studied.Considering the cyclic sampling in the process of UAV information transmission,the network communication pressure is increased sharply,causing information transmission delay and packet loss.Based on the event trigger mechanism,the attitude synchronization design scheme of the UAV without angular velocity measurement is proposed.By designing event trigger conditions for each UAV system,each UAV system's information will only be sent at the trigger time,significantly reducing network communication pressure.Considering that the angular velocity is not used as the feedback amount,the processing based on the virtual system is used.By designing the attitude error and input torque of the trigger moment between the UAV systems in the virtual angular velocity,the leaderless and leader-follower attitude synchronization of the unmanned aerial vehicle group without angular velocity measurement under the event triggering mechanism is realized.The attitude synchronization of the unmanned aerial vehicle group without angular velocity measurement in the presence of disturbance torque is studied.During the flight of the drone,it is easily affected by disturbances such as external airflow,and the phenomenon of flight path deviation occurs.By designing the disturbance torque and the input torque,the virtual system method is used to realize no angular velocity measurement.In the presence of the interference torque and the random delay,the effectiveness and stability of the controller are guaranteed,and the anti-interference and robustness of the UAV are improved,and the leaderless and leader-follower attitude synchronization of the UAV without angular velocity measurement is realized.Finally,the content of the full text is summarized,and the further development of relevant research directions is prospected.