Research On Time-Varying Formation Control Method Of Quadrotor UAV

With the continuous development of science and technology,UAV are widely used in various industries,but as the social environment becomes more complex,the tasks that a single UAV needs to complete have become more difficult,which requires study the formation control of UAV in depth.Compared with a single UAV,the formation is more efficient in performing tasks,more complex tasks can be completed,and the entire system is more fault-tolerant.However,most of the current research results mainly focus on time-invarying formations.It should be noted that the control theory of time-invarying formations cannot generally be directly applied to the time-varying systems,therefore,it is more meaningful to study the control of time-varying formations.In this paper,quadrotor UAV are mainly used as research objects.The method of UAV formation control and related issues are studied in this paper and the main research contents are as follows:First,based on the leader-follower control method,the angle saturation problem of the attitude subsystem during the maneuvering flight is considered.The angle saturation is considered as a system disturbance,and then an exponential observer is designed to observe the disturbance and design the control law of the UAV system based on the observation results.The control law can effectively suppress the angular saturation of the UAV formation during maneuvering flight.Secondly,because the description of the UAV formation model in the existing research results is composed of complex equations,in response to this problem,an ellipsoid equation with time-varying parameters is proposed to describe the formation model.This description method makes time-varying formations are more flexible and more operable.Then,the formation control law is designed based on the virtual structure method,and the effective control of the time-varying formation is completed.Finally,based on the time-varying formation of the UAV,the state delay of the UAV formations is further considered,and a delay observer is designed to observe the state of the UAV,and to compensate the state of the UAV where the delay occurs,and then design the control law of the UAV system based on the observation results,so that the UAV can effectively deal with the problem of delay in the process of time-varying formation,thereby ensuring the normal operation of the UAV system.